{"id":"https://openalex.org/W7151263941","doi":"https://doi.org/10.48550/arxiv.2604.04117","title":"Efficient Onboard Spacecraft Pose Estimation with Event Cameras and Neuromorphic Hardware","display_name":"Efficient Onboard Spacecraft Pose Estimation with Event Cameras and Neuromorphic Hardware","publication_year":2026,"publication_date":"2026-04-05","ids":{"openalex":"https://openalex.org/W7151263941","doi":"https://doi.org/10.48550/arxiv.2604.04117"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.04117","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.04117","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2604.04117","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5091825791","display_name":"Arunkumar Rathinam","orcid":"https://orcid.org/0000-0002-2231-0734"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rathinam, Arunkumar","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040303411","display_name":"Jules Lecomte","orcid":"https://orcid.org/0000-0002-7103-0843"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lecomte, Jules","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133108875","display_name":"Jost Reelsen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Reelsen, Jost","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049683567","display_name":"Gregor Lenz","orcid":"https://orcid.org/0000-0003-0619-3555"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lenz, Gregor","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044456500","display_name":"Axel von Arnim","orcid":"https://orcid.org/0000-0002-9680-7591"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"von Arnim, Axel","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5083368272","display_name":"Djamila Aouada","orcid":"https://orcid.org/0000-0002-7576-2064"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Aouada, Djamila","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10502","display_name":"Advanced Memory and Neural Computing","score":0.7398999929428101,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10502","display_name":"Advanced Memory and Neural Computing","score":0.7398999929428101,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.1420000046491623,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11992","display_name":"CCD and CMOS Imaging Sensors","score":0.012000000104308128,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/neuromorphic-engineering","display_name":"Neuromorphic engineering","score":0.9138000011444092},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.6653000116348267},{"id":"https://openalex.org/keywords/event","display_name":"Event (particle physics)","score":0.6377000212669373},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.5878999829292297},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5755000114440918},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.5526000261306763},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.5343000292778015},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.5181999802589417},{"id":"https://openalex.org/keywords/spacecraft","display_name":"Spacecraft","score":0.45419999957084656}],"concepts":[{"id":"https://openalex.org/C151927369","wikidata":"https://www.wikidata.org/wiki/Q1981312","display_name":"Neuromorphic engineering","level":3,"score":0.9138000011444092},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6854000091552734},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6814000010490417},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.6653000116348267},{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.6377000212669373},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.5878999829292297},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5755000114440918},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5526000261306763},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5526000261306763},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.5343000292778015},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.5181999802589417},{"id":"https://openalex.org/C29829512","wikidata":"https://www.wikidata.org/wiki/Q40218","display_name":"Spacecraft","level":2,"score":0.45419999957084656},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.44690001010894775},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3849000036716461},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.3765999972820282},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.361299991607666},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3393999934196472},{"id":"https://openalex.org/C2779968344","wikidata":"https://www.wikidata.org/wiki/Q3932925","display_name":"Rendezvous","level":3,"score":0.3310000002384186},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.32350000739097595},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.3061999976634979},{"id":"https://openalex.org/C187107819","wikidata":"https://www.wikidata.org/wiki/Q835696","display_name":"NASA Deep Space Network","level":3,"score":0.3043999969959259},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.29679998755455017},{"id":"https://openalex.org/C11731999","wikidata":"https://www.wikidata.org/wiki/Q9067355","display_name":"Spiking neural network","level":3,"score":0.29170000553131104},{"id":"https://openalex.org/C36613465","wikidata":"https://www.wikidata.org/wiki/Q4636322","display_name":"3D pose estimation","level":3,"score":0.262800008058548},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.2563999891281128},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.25519999861717224}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.04117","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.04117","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2604.04117","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.04117","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.8321743011474609}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Reliable":[0],"relative":[1],"pose":[2,134,147],"estimation":[3,148],"is":[4,17,140],"a":[5,60,120,154],"key":[6],"enabler":[7],"for":[8,53,161],"autonomous":[9,163],"rendezvous":[10],"and":[11,26,94,108,126],"proximity":[12],"operations,":[13],"yet":[14],"space":[15,164],"imagery":[16,42],"notoriously":[18],"challenging":[19],"due":[20],"to":[21,98,157],"extreme":[22],"illumination,":[23],"high":[24],"contrast,":[25],"fast":[27],"target":[28],"motion.":[29],"Event":[30],"cameras":[31],"provide":[32],"asynchronous,":[33],"change-driven":[34],"measurements":[35],"that":[36,65],"can":[37,49],"remain":[38],"informative":[39],"when":[40],"frame-based":[41],"saturates":[43],"or":[44],"blurs,":[45],"while":[46],"neuromorphic":[47,73],"processors":[48],"exploit":[50],"sparse":[51],"activations":[52],"low-latency,":[54,158],"energy-efficient":[55],"inferences.":[56],"This":[57],"paper":[58],"presents":[59],"spacecraft":[61,146],"6-DoF":[62],"pose-estimation":[63],"pipeline":[64],"couples":[66],"event-based":[67],"vision":[68],"with":[69],"the":[70,76,96,141],"BrainChip":[71],"Akida":[72,114,124,130,151],"processor.":[74],"Using":[75],"SPADES":[77],"dataset,":[78],"we":[79],"train":[80],"compact":[81],"MobileNet-style":[82],"keypoint":[83],"regression":[84],"networks":[85],"on":[86,113,129,150],"lightweight":[87],"event-frame":[88],"representations,":[89],"apply":[90],"quantization-aware":[91],"training":[92],"(8/4-bit),":[93],"convert":[95],"models":[97],"Akida-compatible":[99],"spiking":[100],"neural":[101],"networks.":[102],"We":[103,117],"benchmark":[104],"three":[105],"event":[106],"representations":[107],"demonstrate":[109],"real-time,":[110],"low-power":[111,159],"inference":[112],"V1":[115],"hardware.":[116],"additionally":[118],"design":[119],"heatmap-based":[121],"model":[122],"targeting":[123],"V2":[125],"evaluate":[127],"it":[128],"Cloud,":[131],"yielding":[132],"improved":[133],"accuracy.":[135],"To":[136],"our":[137],"knowledge,":[138],"this":[139],"first":[142],"end-to-end":[143],"demonstration":[144],"of":[145],"running":[149],"hardware,":[152],"highlighting":[153],"practical":[155],"route":[156],"perception":[160],"future":[162],"missions.":[165]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-04-08T00:00:00"}
