ResearchBenchmarksSpacecraft Pose Estimation on SHIRT roe2Spacecraft Pose Estimation on SHIRT roe2Follow0.087Translation Error (m)CAPLRm0.075280.154390.23350.31261Jun 19, 2026Evaluation resultsMethodMethodLinksTranslation Error (m)Rotation Error (°)CAPLRmData Type=S + R−Data Type=S + R−2026.060.0874.49CAPLRmData Type=S + RData Type=S + R2026.060.0973.74CAPLRmData Type=SData Type=S2026.060.116.04A-UKFData Type=S + BData Type=S + B2026.060.2034.67U-AUKFData Type=S + AData Type=S + A2026.060.389