A stereo-based 6D pose estimator using TSCA-Stereo and a cross-modal RGB-D fusion Transformer achieves 0.0419 m mean translation error and 0.8632° mean orientation error on synthetic space imagery under varied conditions.
Transpose: 6d object pose estimation with geometry-aware transformer
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Cross-Modal RGB-D Fusion Transformer for 6D Pose Estimation of Non-Cooperative Spacecraft with Stereo-Derived Depth
A stereo-based 6D pose estimator using TSCA-Stereo and a cross-modal RGB-D fusion Transformer achieves 0.0419 m mean translation error and 0.8632° mean orientation error on synthetic space imagery under varied conditions.