ResearchBenchmarksSpacecraft Pose Estimation on SHIRT roe1Spacecraft Pose Estimation on SHIRT roe1Follow0.25Translation Error (m)U-AUKF0.246080.272540.2990.32546Jun 19, 2026Evaluation resultsMethodMethodLinksTranslation Error (m)Rotation Error (deg)U-AUKFData Type=S + AData Type=S + A2026.060.2514CAPLRmData Type=S + R−Data Type=S + R−2026.060.26610.65CAPLRmData Type=S + RData Type=S + R2026.060.26910.31A-UKFData Type=S + BData Type=S + B2026.060.30317.17CAPLRmData Type=SData Type=S2026.060.34810.74