Spacecraft Pose Estimation on SPEED+ Lightbox
3.187Rotation Error (deg)TangoUnchained
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| TangoUnchainedPnP=Yes2025.12 | 3.187 | 0.105 | — | — | — | |
| TangoUSize (M)=50, Data Type=S + R-, Model Scale=Large/Medium models, SPEC21 Winner=true2026.06 | 3.19 | — | 0.073 | — | 0.018 | |
| CAPLRmSize (M)=35, Data Type=S + R-, Model Scale=Large/Medium models2026.06 | 3.54 | — | 0.08 | — | 0.018 | |
| VPUPnP=Yes2025.12 | 4.577 | 0.131 | — | — | — | |
| VPUSize (M)=190, Data Type=S + R-, Model Scale=Large/Medium models, SPEC21 Winner=true2026.06 | 4.58 | — | 0.101 | — | 0.022 | |
| PVSPESize (M)=70, Data Type=S, Model Scale=Large/Medium models2026.06 | 4.81 | — | 0.101 | — | 0.017 | |
| FA-VAESize (M)=42, Data Type=S, Model Scale=Large/Medium models2026.06 | 4.94 | — | 0.114 | — | 0.027 | |
| SPNv2PnP=Yes2025.12 | 5.577 | 0.15 | — | — | — | |
| SPNv2Size (M)=53, Data Type=S + R-, Model Scale=Large/Medium models2026.06 | 5.58 | — | 0.122 | — | 0.024 | |
| Lava1302Size (M)=8.2, Data Type=S + R-, Model Scale=Small models, SPEC21 Winner=true2026.06 | 6.66 | — | 0.165 | — | 0.048 | |
| lava1302PnP=Yes2025.12 | 6.665 | 0.302 | — | — | — | |
| CAPLRsSize (M)=3.9, Data Type=S + R-, Model Scale=Small models2026.06 | 7.8 | — | 0.165 | — | 0.029 | |
| haoranhuang_njustPnP=Yes2025.12 | 8.131 | 0.18 | — | — | — | |
| u3s_labPnP=Yes2025.12 | 9.694 | 0.333 | — | — | — | |
| UAKDSize (M)=3.8, Data Type=S, Model Scale=Small models2026.06 | 11.42 | — | 0.248 | — | 0.049 | |
| ViT-B-384/16PnP=No2025.12 | 12.261 | 0.27 | — | — | — | |
| ViT-B-224/16PnP=No2025.12 | 14.668 | 0.305 | — | — | — | |
| Cov2PoseLatency (ms)=60.46, Resolution=768×5122026.03 | 15.096 | 0.3 | 0.3101 | — | — | |
| chushunhaoPnP=?2025.12 | 16.378 | 0.205 | — | — | — | |
| YOLOv8s-pose2026.03 | 18 | 0.758 | 0.432 | — | — | |
| YOLOv8sSize (M)=11.5, Data Type=S, Model Scale=Small models2026.06 | 18 | — | 0.432 | — | 0.118 | |
| SPNv2Latency (ms)=80.25, Resolution=768×5122026.03 | 20.258 | 0.368 | 0.411 | — | — | |
| for graduatePnP=?2025.12 | 23.666 | 0.402 | — | — | — | |
| Pivot SDA AI & al.PnP=?2025.12 | 23.918 | 0.409 | — | — | — | |
| bbncPnP=?2025.12 | 24.889 | 0.687 | — | — | — | |
| ItTakesTwoToTangoPnP=?2025.12 | 31.094 | 0.485 | — | — | — | |
| KRNTraining condition=Synthetic-Only Training2026.03 | 44.53 | 2.25 | — | 1.12 | — | |
| MMEDR-AutonomousTraining condition=Synthetic-Only Training2026.03 | 45.65 | 0.36 | — | 0.86 | — | |
| SPNTraining condition=Synthetic-Only Training2026.03 | 65.12 | 0.45 | — | 1.21 | — |