Polarity--Time Interaction and Multi-Level Reliability for Event-Based Spacecraft Pose Estimation

Authors: Yonglong Zhang , Zongwu Xie , Yang Liu

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Abstract: Sparse event responses produce uneven keypoint errors whose effects on spacecraft pose depend on correspondence geometry and the reliability of successive observations. We present a reliability-aware framework connecting polarity--time localization, geometric recovery, event--CAD refinement, and trajectory optimization. A three-branch representation combines positive events, negative events, and recent-event timing through cross-branch attention and gating, followed by spatiotemporal aggregation. An ordered semantic-point head estimates relative correspondence precision for geometrically constrained pose recovery. Event-edge and CAD-projection agreement then guide local pose refinement under keypoint-geometry safeguards. At the sequence level, a ten-dimensional descriptor combines heatmap shape, reprojection consistency, and geometric conditioning to set time-aligned observation scales. On the official SPADES challenge test set, the complete system achieves a combined pose score of 0.0474, approximately 5.4\% below PASAN+IRIS. Validation ablations reduce the score from 0.0772 for base localization with uniform PnP to 0.0514 for the complete cascade; on identical single-frame observations, quality weighting reduces the score from 0.0549 with constant-weight optimization to 0.0514.

Subjects:

Artificial Intelligence (cs.AI) ; Robotics (cs.RO)

Cite as:

arXiv:2610.36625 [cs.AI]

(or

arXiv:2610.36625v1 [cs.AI] for this version)

https://doi.org/10.48550/arXiv.2610.36625

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arXiv-issued DOI via DataCite (pending registration)

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From: Yonglong Zhang [ view email ]

[v1]

Tue, 27 Oct 2026 04:29:19 UTC (464 KB)

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