GAP-GDRNet: Geometry-aware monocular 6D pose estimation for spacecraft using synthetic geometric supervision

Zongwu Xie, Yonglong Zhang, Yifan Yang, Yang Liu, Guanghu Xie

Monocular spacecraft 6D pose estimation remains difficult under weak texture, thin structures, illumination variation, and occlusion. This article presents GAP-GDRNet, a geometry-aware RGB framework built on GDR-Net for a single-target synthetic spacecraft benchmark. The method strengthens the geometry-guided regression pipeline at two points. First, AFR is placed before dense geometric prediction to combine global structural attention with local weak-texture enhancement. Second, PGSA is inserted into Patch-PnP to relate downsampled geometric regions before final pose regression. Dense supervision is obtained from a Blender-based rendering and annotation process that provides masks, model-coordinate maps, camera intrinsics, and 6D pose labels. On the self-built spacecraft dataset, GAP-GDRNet achieves a rotation error of 1.96°, a translation error of 0.0165 m,and 95.16% ADD@0.02 m, outperforming the reproduced GDR-Net baseline by 3.88 percentage points while running at 35.97 FPS. Tests on T-LESS and LM-O further show consistent gains over the reproduced baseline on textureless and occluded non-spacecraft objects.