{"id":"https://openalex.org/W7164409170","doi":"https://doi.org/10.48550/arxiv.2606.11619","title":"Precision-Aware Illumination-Disentangled Vision Transformer for Spacecraft 6D Pose Estimation","display_name":"Precision-Aware Illumination-Disentangled Vision Transformer for Spacecraft 6D Pose Estimation","publication_year":2026,"publication_date":"2026-06-10","ids":{"openalex":"https://openalex.org/W7164409170","doi":"https://doi.org/10.48550/arxiv.2606.11619"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.11619","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.11619","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.11619","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5138418775","display_name":"Zongwu Xie","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xie, Zongwu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138398157","display_name":"Yifan Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Yifan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138455069","display_name":"Yonglong Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Yonglong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101320330","display_name":"Guanghu Xie","orcid":"https://orcid.org/0009-0003-2552-6316"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xie, Guanghu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138456841","display_name":"Yang Liu (4829)","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Yang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5138408591","display_name":"Shuo Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Shuo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"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/T11701","display_name":"Space Satellite Systems and Control","score":0.9850999712944031,"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"}},"topics":[{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.9850999712944031,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.00419999985024333,"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/T11082","display_name":"Spacecraft Dynamics and Control","score":0.0015999999595806003,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.6578999757766724},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6444000005722046},{"id":"https://openalex.org/keywords/spacecraft","display_name":"Spacecraft","score":0.5636000037193298},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.5199000239372253},{"id":"https://openalex.org/keywords/monocular-vision","display_name":"Monocular vision","score":0.4487000107765198},{"id":"https://openalex.org/keywords/machine-vision","display_name":"Machine vision","score":0.349700003862381},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.34599998593330383},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.3407000005245209}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7621999979019165},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7450000047683716},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.6578999757766724},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6444000005722046},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6114000082015991},{"id":"https://openalex.org/C29829512","wikidata":"https://www.wikidata.org/wiki/Q40218","display_name":"Spacecraft","level":2,"score":0.5636000037193298},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.5199000239372253},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.4487000107765198},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.349700003862381},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.34599998593330383},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.3407000005245209},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.3368000090122223},{"id":"https://openalex.org/C36613465","wikidata":"https://www.wikidata.org/wiki/Q4636322","display_name":"3D pose estimation","level":3,"score":0.32510000467300415},{"id":"https://openalex.org/C146160929","wikidata":"https://www.wikidata.org/wiki/Q751290","display_name":"Euler angles","level":2,"score":0.3125},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.31130000948905945},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.29589998722076416},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.27810001373291016},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.26750001311302185},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2632000148296356},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.25040000677108765}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.11619","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.11619","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.11619","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.11619","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Vision":[0,48],"sensors":[1],"provide":[2],"a":[3,45,92],"lightweight":[4],"solution":[5],"for":[6,51],"spacecraft":[7,12,53],"proximity":[8],"operations,":[9],"but":[10],"monocular":[11],"6D":[13,94],"pose":[14,40,54,70],"estimation":[15],"remains":[16],"difficult":[17],"under":[18],"illumination":[19,137],"variation,":[20],"specular":[21],"reflection,":[22],"shadowing,":[23],"weak":[24],"texture,":[25],"and":[26,37,72,91,100,121,144],"background":[27],"interference.":[28],"These":[29],"factors":[30],"make":[31],"local":[32],"visual":[33],"evidence":[34],"spatially":[35],"unreliable":[36],"can":[38],"destabilize":[39],"regression.":[41],"This":[42],"article":[43],"proposes":[44],"Precision-Aware":[46],"Illumination-Disentangled":[47],"Transformer":[49],"(PAID-ViT)":[50],"robust":[52],"estimation.The":[55],"proposed":[56],"model":[57],"separates":[58],"pose-relevant":[59],"structure":[60],"tokens":[61],"from":[62],"illumination-sensitive":[63],"appearance":[64],"tokens,":[65],"estimates":[66],"patch":[67],"reliability":[68],"before":[69],"aggregation,":[71,141],"uses":[73],"foreground":[74],"mask":[75,142],"supervision":[76],"to":[77],"preserve":[78],"silhouette":[79],"cues.":[80],"A":[81],"parameter-free":[82],"geometric":[83],"recovery":[84],"module":[85],"converts":[86],"normalized":[87],"crop":[88],"coordinates,":[89],"log-depth,":[90],"continuous":[93],"rotation":[95,99],"representation":[96],"into":[97],"camera-frame":[98],"translation.":[101],"Experiments":[102],"on":[103],"SPEED+":[104,107],"V2,":[105],"the":[106,125,133],"validation/lightbox/sunlamp":[108],"evaluation":[109],"configuration":[110],"used":[111],"in":[112,124],"this":[113],"study,":[114],"suggest":[115],"that":[116],"PAID-ViT":[117],"reduces":[118],"translation":[119],"error":[120],"improves":[122],"robustness":[123],"challenging":[126],"sunlamp":[127],"domain,":[128],"while":[129],"ablation":[130],"studies":[131],"support":[132],"complementary":[134],"roles":[135],"of":[136],"disentanglement,":[138],"reliability-aware":[139],"token":[140],"supervision,":[143],"training-side":[145],"regularization.":[146]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-12T00:00:00"}