{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,20]],"date-time":"2026-06-20T14:40:58Z","timestamp":1781966458233,"version":"3.54.5"},"reference-count":23,"publisher":"American Institute of Aeronautics and Astronautics (AIAA)","issue":"6","license":[{"start":{"date-parts":[[2024,5,7]],"date-time":"2024-05-07T00:00:00Z","timestamp":1715040000000},"content-version":"am","delay-in-days":341,"URL":"https:\/\/www.aiaa.org\/userlicenses\/1.0\/#CompEndUserLicense"}],"funder":[{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["DGE-1610403"],"award-info":[{"award-number":["DGE-1610403"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100006203","name":"Johnson Space Center","doi-asserted-by":"publisher","award":["4200732007"],"award-info":[{"award-number":["4200732007"]}],"id":[{"id":"10.13039\/100006203","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["arc.aiaa.org"],"crossmark-restriction":true},"short-container-title":["Journal of Aerospace Information Systems"],"published-print":{"date-parts":[[2023,6]]},"abstract":"<jats:p> The problem of estimating relative pose for uncooperative space objects has garnered great interest, especially within applications such as on-orbit assembly and satellite servicing. This paper presents a full end-to-end open-source pose estimation and filtering pipeline using monocular camera images for space systems applications. The algorithm pipeline consists of three main components: 1)\u00a0a set of neural networks to perform keypoint regression; 2)\u00a0a pose estimation component, implementing both nonlinear least-squares and perspective-[Formula: see text]-point solvers; and 3)\u00a0a full-pose tracking component, implementing a multiplicative extended Kalman filter. While this software pipeline is designed to be a general-purpose solution, its development was motivated and driven by the size, weight, power, and cost requirements of the NASA Seeker CubeSat program. A combination of real and simulated results is presented to evaluate the neural network components, and simulated time-series results are presented to evaluate the performance of the full pipeline on flightlike hardware in real time. <\/jats:p>","DOI":"10.2514\/1.i011196","type":"journal-article","created":{"date-parts":[[2023,5,7]],"date-time":"2023-05-07T18:03:56Z","timestamp":1683482636000},"page":"290-307","update-policy":"https:\/\/doi.org\/10.2514\/aiaa_crossmarkpolicy","source":"Crossref","is-referenced-by-count":11,"title":["Real-Time Image-Based Relative Pose Estimation and Filtering for Spacecraft Applications"],"prefix":"10.2514","volume":"20","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8643-1028","authenticated-orcid":false,"given":"Siddarth","family":"Kaki","sequence":"first","affiliation":[{"name":"The University of Texas at Austin, Austin, Texas 78705"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jacob","family":"Deutsch","sequence":"additional","affiliation":[{"name":"The University of Texas at Austin, Austin, Texas 78705"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kevin","family":"Black","sequence":"additional","affiliation":[{"name":"The University of Texas at Austin, Austin, Texas 78705"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Asher","family":"Cura-Portillo","sequence":"additional","affiliation":[{"name":"The University of Texas at Austin, Austin, Texas 78705"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3480-6320","authenticated-orcid":false,"given":"Brandon A.","family":"Jones","sequence":"additional","affiliation":[{"name":"The University of Texas at Austin, Austin, Texas 78705"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Maruthi R.","family":"Akella","sequence":"additional","affiliation":[{"name":"The University of Texas at Austin, Austin, Texas 78705"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1387","reference":[{"key":"r1","doi-asserted-by":"publisher","DOI":"10.2514\/6.2020-1376"},{"key":"r2","unstructured":"KakiS. \u201cOn-Orbit Pose and Angular Velocity Estimation,\u201d Master\u2019s Thesis, Univ. of Texas at Austin, Austin, TX, 2020."},{"key":"r9","volume-title":"Blender\u2014A 3D Modelling and Rendering Package","author":"Community B. 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R.KirubarajanT., Estimation with Applications to Tracking and Navigation: Theory Algorithms and Software, Wiley, New York, 2004, pp. 274\u2013275, Sec. 6.3.3."},{"key":"r52","doi-asserted-by":"publisher","DOI":"10.2514\/2.5048"},{"key":"r54","doi-asserted-by":"publisher","DOI":"10.2514\/3.56190"},{"key":"r55","doi-asserted-by":"publisher","DOI":"10.2514\/1.G004375"},{"key":"r56","doi-asserted-by":"publisher","DOI":"10.1080\/10618600.2017.1305277"}],"container-title":["Journal of Aerospace Information Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/arc.aiaa.org\/doi\/am-pdf\/10.2514\/1.I011196","content-type":"application\/pdf","content-version":"am","intended-application":"unspecified"},{"URL":"https:\/\/arc.aiaa.org\/doi\/pdf\/10.2514\/1.I011196","content-type":"application\/pdf","content-version":"vor","intended-application":"syndication"},{"URL":"https:\/\/arc.aiaa.org\/doi\/pdf\/10.2514\/1.I011196","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,6,7]],"date-time":"2023-06-07T10:31:40Z","timestamp":1686133900000},"score":1,"resource":{"primary":{"URL":"https:\/\/arc.aiaa.org\/doi\/10.2514\/1.I011196"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,6]]},"references-count":23,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2023,6]]}},"alternative-id":["10.2514\/1.I011196"],"URL":"https:\/\/doi.org\/10.2514\/1.i011196","relation":{},"ISSN":["1940-3151","2327-3097"],"issn-type":[{"value":"1940-3151","type":"print"},{"value":"2327-3097","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,6]]},"assertion":[{"value":"2022-09-15","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2023-01-07","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2023-05-07","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}