Experimental Verification of a Monocular CNN-Based Pose Estimation Algorithm for the SROC Mission

Experimental Verification of a Monocular CNN-Based Pose Estimation Algorithm for the SROC Mission | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Experimental Verification of a Monocular CNN-Based Pose Estimation Algorithm for the SROC Mission Antonio D'Ortona, Lucrezia Lovaglio, Marco Visca, Fabrizio Stesina, and 1 more This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-8545599/v1 This work is licensed under a CC BY 4.0 License Status: Under Review Version 1 posted 7 You are reading this latest preprint version Abstract This work presents a Convolutional Neural Network (CNN)-based framework for monocular pose estimation of spacecraft in the context of the ESA Space Rider Observer CubeSat (SROC) mission. The mission, led by a consortium of Italian institutions, involves autonomous proximity operations including inspection and docking maneuvers with the Space Rider vehicle. Given the constraints of CubeSat-class hardware, we explore an efficient and adaptable CNN-based solution for relative navigation using only optical input. In order to address the challenges of domain gap between synthetic and real data, a high-fidelity synthetic dataset was generated using Blender with realistic lighting conditions and applying dataset augmentation techniques. Real image datasets were acquired at ESA’s GRALS facility with a COTS camera to test the trained models with a 1:20 mockup of Space Rider. A hyperparameter optimization (HPO) was conducted using the Optuna framework to enhance training performance. Multiple training strategies were evaluated, including fine-tuning techniques and dataset mixing approaches, to enhance performances on a specific maneuver that requires greater accuracy. The trained networks were deployed on the Payload Processing Unit using the ONNX Runtime framework for inference. Tests demonstrated consistent and reliable performance across multiple scenarios. These results confirm that, when supported by domain adaptation and hyperparameter optimization, the proposed CNN architecture can achieve accurate pose estimation under limited computational resources, making it a strong candidate for future autonomous CubeSat applications. On-Orbit Servicing (OOS) rendezvous and docking pose estimation visual navigation Convolutional Neural Network (CNN) hyperparameter optimization Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Under Review Version 1 posted Reviewers agreed at journal 18 May, 2026 Reviews received at journal 27 Apr, 2026 Reviewers agreed at journal 03 Apr, 2026 Reviewers invited by journal 19 Jan, 2026 Editor assigned by journal 09 Jan, 2026 Submission checks completed at journal 08 Jan, 2026 First submitted to journal 07 Jan, 2026 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-8545599","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":576833722,"identity":"d0231e78-f011-4503-bdc7-1e925f4a7647","order_by":0,"name":"Antonio D'Ortona","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAA9UlEQVRIiWNgGAWjYNACAyA+AGHKMTAwN4DYPLiVM8O1MDYAKWMGIH0AqIcHtx5mKA3VktgAovFZwz+7/+DjggIbBr7jvc8ffNxhl76dvbHx8IcKBhl7HFok7hxmNp5hkMYgeea4YePMM8m5O3sOAh12Bo/DbiSzSfMYHGYwuJHG2Mzbxpy74UZiw4GDbbi1yKNpqU83IKTFAE3L4QSCWgxvJBsb8xik8UieOcY4c2bbcUOwX86ckeDhOYBdi9yNxIePef7YyPEdb2P48LGtWt6cvRkYYBU29uwNuPwPAQhXGEAoCfzqUX1HgtpRMApGwSgYGQAASrdcS+/yOoQAAAAASUVORK5CYII=","orcid":"","institution":"Polytechnic University of Turin","correspondingAuthor":true,"prefix":"","firstName":"Antonio","middleName":"","lastName":"D'Ortona","suffix":""},{"id":576833723,"identity":"e7969d26-74b1-426c-93d7-bb7d9286a880","order_by":1,"name":"Lucrezia Lovaglio","email":"","orcid":"","institution":"Polytechnic University of Turin","correspondingAuthor":false,"prefix":"","firstName":"Lucrezia","middleName":"","lastName":"Lovaglio","suffix":""},{"id":576833724,"identity":"83cadade-6b34-4977-947c-f34367f1c455","order_by":2,"name":"Marco Visca","email":"","orcid":"","institution":"Tyvak International","correspondingAuthor":false,"prefix":"","firstName":"Marco","middleName":"","lastName":"Visca","suffix":""},{"id":576833725,"identity":"d984d27d-ae20-4b35-8dfc-84874b3cd538","order_by":3,"name":"Fabrizio Stesina","email":"","orcid":"","institution":"Polytechnic University of Turin","correspondingAuthor":false,"prefix":"","firstName":"Fabrizio","middleName":"","lastName":"Stesina","suffix":""},{"id":576833726,"identity":"fedbdaa4-5ab4-4f9d-a5a6-b4c46979d03b","order_by":4,"name":"Sabrina Corpino","email":"","orcid":"","institution":"Polytechnic University of Turin","correspondingAuthor":false,"prefix":"","firstName":"Sabrina","middleName":"","lastName":"Corpino","suffix":""}],"badges":[],"createdAt":"2026-01-07 23:53:12","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-8545599/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-8545599/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":100824737,"identity":"11f621bc-3334-4356-8cbd-22ecd1e40e48","added_by":"auto","created_at":"2026-01-21 18:52:50","extension":"json","order_by":0,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":6578,"visible":true,"origin":"","legend":"","description":"","filename":"a7bc437d81aa472686d77acbc5e7d5ea.json","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/ecf85fce999db4ae187a66dc.json"},{"id":100858297,"identity":"6492562a-6c89-4bbc-a595-34f9f68d18de","added_by":"auto","created_at":"2026-01-22 07:24:10","extension":"xml","order_by":1,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":234042,"visible":true,"origin":"","legend":"","description":"","filename":"a7bc437d81aa472686d77acbc5e7d5ea1enriched.xml","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/404cddbaaf90956af3ec72d6.xml"},{"id":100824732,"identity":"c1a16f4d-1063-428b-905e-49f7498009df","added_by":"auto","created_at":"2026-01-21 18:52:50","extension":"png","order_by":2,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":241718,"visible":true,"origin":"","legend":"","description":"","filename":"1stcnn.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/f7c8d269d69e2a396a5d18eb.png"},{"id":100858821,"identity":"6c18a8cb-ae3f-471f-9735-96a4ab7b52bd","added_by":"auto","created_at":"2026-01-22 07:24:48","extension":"png","order_by":3,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":253729,"visible":true,"origin":"","legend":"","description":"","filename":"2ndcnn.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/6e9ead6179e7e1796c0b50de.png"},{"id":100858386,"identity":"96089b04-a421-4791-aec3-c399827e0d66","added_by":"auto","created_at":"2026-01-22 07:24:14","extension":"png","order_by":4,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":467946,"visible":true,"origin":"","legend":"","description":"","filename":"Blenderdatasetgeneration3.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/47c1f37f4e0e31fb189e15e4.png"},{"id":100858629,"identity":"1077c604-7098-4b72-a94b-d5e109bb87df","added_by":"auto","created_at":"2026-01-22 07:24:31","extension":"png","order_by":5,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":49632,"visible":true,"origin":"","legend":"","description":"","filename":"Blender.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/2d33f98211f2e2a96c0cfada.png"},{"id":100824733,"identity":"8e5ca3c4-d34c-4a46-b6dc-57a69d6eeea4","added_by":"auto","created_at":"2026-01-21 18:52:50","extension":"png","order_by":6,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":708847,"visible":true,"origin":"","legend":"","description":"","filename":"Blender2.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/2390dc1ecd80edb38c56d2cd.png"},{"id":100949429,"identity":"110c87d3-8e20-47dd-ace8-1d56e147de00","added_by":"auto","created_at":"2026-01-23 07:02:17","extension":"pdf","order_by":7,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":22061348,"visible":true,"origin":"","legend":"","description":"","filename":"CEASVNreviewed.pdf","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/8398c9c954bc858453c68952.pdf"},{"id":100824742,"identity":"5332faa6-5bec-475f-ad9d-a3c08eca2792","added_by":"auto","created_at":"2026-01-21 18:52:50","extension":"png","order_by":8,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":250644,"visible":true,"origin":"","legend":"","description":"","filename":"CNNreduced.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/ced7db05f6e548524a1c2110.png"},{"id":100858625,"identity":"21eafffa-a72d-4116-8f73-f320ec32bf44","added_by":"auto","created_at":"2026-01-22 07:24:31","extension":"png","order_by":9,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":3446436,"visible":true,"origin":"","legend":"","description":"","filename":"Chapsarch.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/074733173e1efbb483c508a5.png"},{"id":100859046,"identity":"cb522da8-477e-4a59-a6b3-0feb7f3e35c1","added_by":"auto","created_at":"2026-01-22 07:25:09","extension":"png","order_by":10,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":192780,"visible":true,"origin":"","legend":"","description":"","filename":"ConOpsSROC.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/76662b769021a5f18ffcab49.png"},{"id":100858148,"identity":"361f9dc2-02cf-4a11-abd7-ca90c823e21d","added_by":"auto","created_at":"2026-01-22 07:23:56","extension":"png","order_by":11,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":17444,"visible":true,"origin":"","legend":"","description":"","filename":"FAdatasetdistribution.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/88493219309905c483e3c1e1.png"},{"id":100858824,"identity":"0eb9230f-bd3f-4632-9f64-ec738b067658","added_by":"auto","created_at":"2026-01-22 07:24:48","extension":"png","order_by":12,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":3582502,"visible":true,"origin":"","legend":"","description":"","filename":"GRALSsetup.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/54b0878f5673a1cf77d050f0.png"},{"id":100859014,"identity":"53130d15-469c-41be-9bb8-ddc05b636725","added_by":"auto","created_at":"2026-01-22 07:25:06","extension":"png","order_by":13,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":4268782,"visible":true,"origin":"","legend":"","description":"","filename":"GRALSsetupassembly.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/a499b9ea4f9977c50ace8df7.png"},{"id":100824745,"identity":"6dacd2e9-73d7-4933-bbe7-1e06e5184ff9","added_by":"auto","created_at":"2026-01-21 18:52:50","extension":"png","order_by":14,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":4263067,"visible":true,"origin":"","legend":"","description":"","filename":"GRALSsetupassembly2.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/952876e0a498c5d0b0e4d2f9.png"},{"id":100858087,"identity":"57cdca5e-441b-46e7-acc3-d5f53b322bd7","added_by":"auto","created_at":"2026-01-22 07:23:50","extension":"png","order_by":15,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":84669,"visible":true,"origin":"","legend":"","description":"","filename":"HPOhistory.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/59aee095353f1ce0fb32c411.png"},{"id":100949483,"identity":"61d3766d-0a4a-4bfe-bd7d-c6797e699706","added_by":"auto","created_at":"2026-01-23 07:03:06","extension":"png","order_by":16,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":69844,"visible":true,"origin":"","legend":"","description":"","filename":"HPOplothistoryexcel.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/305ef8c1c23f1b50abaf0477.png"},{"id":100858160,"identity":"21dde6fc-d7c4-42e4-89e2-e4bd3c9f4e3b","added_by":"auto","created_at":"2026-01-22 07:23:59","extension":"png","order_by":17,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":11973,"visible":true,"origin":"","legend":"","description":"","filename":"HPOres2.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/3bd9c8b2ad2e7615e418d949.png"},{"id":100858443,"identity":"1413822d-5a4f-49c0-a05d-673c699215eb","added_by":"auto","created_at":"2026-01-22 07:24:18","extension":"pdf","order_by":18,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":286400,"visible":true,"origin":"","legend":"","description":"","filename":"PolitecnicodiTorino.pdf","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/924bfa1b22b10e562940973d.pdf"},{"id":100824736,"identity":"56b9a461-d3ea-446d-8a5a-af4376280cfd","added_by":"auto","created_at":"2026-01-21 18:52:50","extension":"jpg","order_by":19,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":303185,"visible":true,"origin":"","legend":"","description":"","filename":"PolitecnicodiTorinoLogo.jpg","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/bc324be349db4769d9116967.jpg"},{"id":100824743,"identity":"53ff26d3-a119-4fad-89eb-024dd36d26ce","added_by":"auto","created_at":"2026-01-21 18:52:50","extension":"png","order_by":20,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":76349,"visible":true,"origin":"","legend":"","description":"","filename":"PosesFAdataset2.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/c8e4d9b12aa08696fea4f3e0.png"},{"id":100824739,"identity":"45d3a8ec-b0eb-4c13-aaaa-74ea1b0ad3e4","added_by":"auto","created_at":"2026-01-21 18:52:50","extension":"png","order_by":21,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":182996,"visible":true,"origin":"","legend":"","description":"","filename":"Posesobservationdataset.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/a061b1148bc878393edaca5e.png"},{"id":100858576,"identity":"067db9a5-f777-4c88-b960-cdc22c1636d9","added_by":"auto","created_at":"2026-01-22 07:24:28","extension":"png","order_by":22,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":97976,"visible":true,"origin":"","legend":"","description":"","filename":"Posesrealdataset1.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/be8037379981d6833b89eb2b.png"},{"id":100858207,"identity":"52495f4f-d0fc-4798-b204-9e1d53616dd1","added_by":"auto","created_at":"2026-01-22 07:24:03","extension":"png","order_by":23,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":98995,"visible":true,"origin":"","legend":"","description":"","filename":"Posesrealdataset2.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/0bd4c90a1aa38126d711d183.png"},{"id":100858431,"identity":"c088d850-8aa1-4e9f-a043-643c7c481ff1","added_by":"auto","created_at":"2026-01-22 07:24:17","extension":"png","order_by":24,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":79487,"visible":true,"origin":"","legend":"","description":"","filename":"Posesrealdataset3.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/8b1754989eff30706b2d80a8.png"},{"id":100824753,"identity":"fa978c2c-ce4c-4499-8a69-f13852599c1c","added_by":"auto","created_at":"2026-01-21 18:52:51","extension":"png","order_by":25,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":75848,"visible":true,"origin":"","legend":"","description":"","filename":"Posesrealdataset45.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/624941e17cbf8aaa3113a43e.png"},{"id":100858985,"identity":"8b1c6f59-f518-4ef9-88fb-07399eff6354","added_by":"auto","created_at":"2026-01-22 07:25:03","extension":"png","order_by":26,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":1073757,"visible":true,"origin":"","legend":"","description":"","filename":"Vbarapproachtestassembly.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/679c28218db8f63a979d97db.png"},{"id":100858656,"identity":"f999f5e3-b620-4ee7-8988-75dce077f11f","added_by":"auto","created_at":"2026-01-22 07:24:34","extension":"png","order_by":27,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":66515,"visible":true,"origin":"","legend":"","description":"","filename":"boxtranslationaxisabscomparekeypointstraj1.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/e8c69e85aeece05007fdedc6.png"},{"id":100824763,"identity":"b7ec362c-d2a7-4497-8a23-a83d6eb998b8","added_by":"auto","created_at":"2026-01-21 18:52:51","extension":"png","order_by":28,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":68791,"visible":true,"origin":"","legend":"","description":"","filename":"boxtranslationaxisabscomparekeypointstraj3.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/ec94dbe0168dca4bca39c0d6.png"},{"id":100824747,"identity":"8ab165f9-b223-4dcd-a5d9-f218640f1712","added_by":"auto","created_at":"2026-01-21 18:52:50","extension":"png","order_by":29,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":68616,"visible":true,"origin":"","legend":"","description":"","filename":"boxtranslationaxisabscomparetraj1.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/cf42c3bede71dc0a3feb577e.png"},{"id":100824749,"identity":"b7fe7151-2de5-4bc1-8fe7-0bfe2bbba118","added_by":"auto","created_at":"2026-01-21 18:52:51","extension":"png","order_by":30,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":69279,"visible":true,"origin":"","legend":"","description":"","filename":"boxtranslationaxisabscomparetraj3.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/d29c1d36e7ceed86474ffe1e.png"},{"id":101202440,"identity":"dd5c01ff-5a38-420f-b192-b229988fab63","added_by":"auto","created_at":"2026-01-27 09:33:13","extension":"png","order_by":31,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":181481,"visible":true,"origin":"","legend":"","description":"","filename":"cameraref2.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/80caedd8e69a321169a4c273.png"},{"id":100824757,"identity":"db8bac09-0314-4dd3-97f5-08b3c1e25ba9","added_by":"auto","created_at":"2026-01-21 18:52:51","extension":"png","order_by":32,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":203544,"visible":true,"origin":"","legend":"","description":"","filename":"cameraref3.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/52af91be0f507d0199c4ca48.png"},{"id":100858126,"identity":"124c6983-e7bb-4098-84b3-a7660b1772f4","added_by":"auto","created_at":"2026-01-22 07:23:54","extension":"png","order_by":33,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":209532,"visible":true,"origin":"","legend":"","description":"","filename":"cameraref.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/453a83bb3b4bc01b9c5d1bd9.png"},{"id":100824761,"identity":"70e5e495-71e6-472d-9d59-bbcff41b4695","added_by":"auto","created_at":"2026-01-21 18:52:51","extension":"png","order_by":34,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":194450,"visible":true,"origin":"","legend":"","description":"","filename":"cameraref2.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/e268b3b7775964d9f9e60106.png"},{"id":100824754,"identity":"509aa4ff-a11c-4008-8dc5-92cba22d4587","added_by":"auto","created_at":"2026-01-21 18:52:51","extension":"png","order_by":35,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":113384,"visible":true,"origin":"","legend":"","description":"","filename":"cdfrotationerrorcomparetraj1.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/0f0774b2783684ad3201d197.png"},{"id":100824779,"identity":"683d002e-37ec-4876-80a2-329fcf1592dc","added_by":"auto","created_at":"2026-01-21 18:52:51","extension":"png","order_by":36,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":116269,"visible":true,"origin":"","legend":"","description":"","filename":"cdfrotationerrorcomparetraj3.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/02bea8352a57e313e1229e95.png"},{"id":100858417,"identity":"d56695c3-8095-4cad-8ca6-de6edbc2d090","added_by":"auto","created_at":"2026-01-22 07:24:16","extension":"png","order_by":37,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":124876,"visible":true,"origin":"","legend":"","description":"","filename":"cdftranslationkeyptscomparetraj1.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/7e26c3f346f441a36f6eafc2.png"},{"id":100824793,"identity":"4ead9229-9c17-44df-9e7c-14b164199eeb","added_by":"auto","created_at":"2026-01-21 18:52:52","extension":"png","order_by":38,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":119624,"visible":true,"origin":"","legend":"","description":"","filename":"cdftranslationkeyptscomparetraj3.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/e1cb81a755fea8609cd07571.png"},{"id":100858336,"identity":"3aa8fb69-a21f-4528-a847-c3bf084b60d4","added_by":"auto","created_at":"2026-01-22 07:24:12","extension":"png","order_by":39,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":120362,"visible":true,"origin":"","legend":"","description":"","filename":"cdftranslationnormcomparetraj1.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/e400c3bb86f342ebd0a7c41c.png"},{"id":100858572,"identity":"a2867b23-60e6-49d6-aeea-a56e4d2a3e12","added_by":"auto","created_at":"2026-01-22 07:24:27","extension":"png","order_by":40,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":123232,"visible":true,"origin":"","legend":"","description":"","filename":"cdftranslationnormcomparetraj3.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/75f6571ab584765a42de115d.png"},{"id":100824780,"identity":"9f613c00-cc6c-4b23-a5eb-82bc56c1bd64","added_by":"auto","created_at":"2026-01-21 18:52:52","extension":"png","order_by":41,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":313061,"visible":true,"origin":"","legend":"","description":"","filename":"cnnarchitecture.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/4fc570c8a508c0073056ebc9.png"},{"id":100824782,"identity":"d01d7e03-ac72-46ae-95f2-ce8a3a275467","added_by":"auto","created_at":"2026-01-21 18:52:52","extension":"png","order_by":42,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":402806,"visible":true,"origin":"","legend":"","description":"","filename":"cnnarchitecturenew.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/92d915cfdee342839d1b8d65.png"},{"id":100858219,"identity":"cbd7f853-0356-4506-83d1-e20cedbdce4c","added_by":"auto","created_at":"2026-01-22 07:24:03","extension":"png","order_by":43,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":232046,"visible":true,"origin":"","legend":"","description":"","filename":"cnnarchitectureonlyeffpose.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/608e2298f58098390bfff05a.png"},{"id":101202463,"identity":"b85607ac-5100-482e-b8d6-e2ac14afd5cf","added_by":"auto","created_at":"2026-01-27 09:33:55","extension":"pdf","order_by":44,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":493840,"visible":true,"origin":"","legend":"","description":"","filename":"coverCEAS.pdf","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/76ecc600a8c7afebd12cf7e2.pdf"},{"id":100858401,"identity":"5788f6c2-7174-406f-9d7f-21e8f69415a7","added_by":"auto","created_at":"2026-01-22 07:24:15","extension":"png","order_by":45,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":5334786,"visible":true,"origin":"","legend":"","description":"","filename":"datasetaug.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/bf2d07c4c5d8da149b2bb141.png"},{"id":100858045,"identity":"f2ce562a-7eee-49fa-b7e3-a3bf768a960e","added_by":"auto","created_at":"2026-01-22 07:23:45","extension":"pptx","order_by":46,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":23784476,"visible":true,"origin":"","legend":"","description":"","filename":"drawsthesis.pptx","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/c0cf38c55da0a561505385d5.pptx"},{"id":100858566,"identity":"82fa856e-72bb-40a6-b97f-6e82d5c1ec05","added_by":"auto","created_at":"2026-01-22 07:24:27","extension":"eps","order_by":47,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":2890,"visible":true,"origin":"","legend":"","description":"","filename":"empty.eps","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/06af86224ab677a66f040927.eps"},{"id":100858596,"identity":"adfa9ae4-e48b-46c6-9431-b6bbd796361a","added_by":"auto","created_at":"2026-01-22 07:24:30","extension":"eps","order_by":48,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":91593,"visible":true,"origin":"","legend":"","description":"","filename":"fig.eps","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/5fb540f8f776a80f19be474d.eps"},{"id":100858388,"identity":"b0f1d151-3eb4-4744-9aed-4c7b0a7ce832","added_by":"auto","created_at":"2026-01-22 07:24:14","extension":"png","order_by":49,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":116295,"visible":true,"origin":"","legend":"","description":"","filename":"initialphasefinal.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/e362ae96ce5850cb7b5fe193.png"},{"id":100858806,"identity":"a79b3c7f-05f8-4eb9-a812-faae8d556ba6","added_by":"auto","created_at":"2026-01-22 07:24:47","extension":"png","order_by":50,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":119180,"visible":true,"origin":"","legend":"","description":"","filename":"initialphasefinal1.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/9f1b9ef8f5a55724236a6cba.png"},{"id":100824762,"identity":"dcb24e2f-9f5f-4e6c-a1e3-3c0e7af314d8","added_by":"auto","created_at":"2026-01-21 18:52:51","extension":"jpg","order_by":51,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":16689,"visible":true,"origin":"","legend":"","description":"","filename":"keyptsexampledark.jpg","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/8d2b5b178d1ba8eca5c5750e.jpg"},{"id":100858869,"identity":"f628e6ef-00bb-43cd-9886-943172f95015","added_by":"auto","created_at":"2026-01-22 07:24:52","extension":"png","order_by":52,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":58630,"visible":true,"origin":"","legend":"","description":"","filename":"logoSCUDO2021blu.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/9c0399028ac9d7bdab3577d2.png"},{"id":100824750,"identity":"a2b5a38b-281a-4b73-88d4-af377b147216","added_by":"auto","created_at":"2026-01-21 18:52:51","extension":"png","order_by":53,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":56193,"visible":true,"origin":"","legend":"","description":"","filename":"logopnrr.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/be3b58bbf3951cc72ad185d4.png"},{"id":101207241,"identity":"073fea58-5ecf-45ae-9f63-d1ac058cd1f0","added_by":"auto","created_at":"2026-01-27 09:59:06","extension":"png","order_by":54,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":19079,"visible":true,"origin":"","legend":"","description":"","filename":"obsdatasetdistribution.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/fd942f3f8f3f66347b8a4399.png"},{"id":100824791,"identity":"c5f1d846-8c25-4470-8116-b36fa6fcf63b","added_by":"auto","created_at":"2026-01-21 18:52:52","extension":"png","order_by":55,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":6275542,"visible":true,"origin":"","legend":"","description":"","filename":"observationphotos3.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/52241e6d1a799c84eff6b749.png"},{"id":100857940,"identity":"947008ae-0f12-48a6-9f1d-4324d6494f0e","added_by":"auto","created_at":"2026-01-22 07:23:27","extension":"png","order_by":56,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":2293462,"visible":true,"origin":"","legend":"","description":"","filename":"observationphotosFA.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/722357fa685de4318fbf3921.png"},{"id":100858841,"identity":"07ab8a8c-4849-45dc-97be-e051c7e385e8","added_by":"auto","created_at":"2026-01-22 07:24:50","extension":"png","order_by":57,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":191019,"visible":true,"origin":"","legend":"","description":"","filename":"optunapipeline.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/74e359de9ec6d4a8247955f9.png"},{"id":100949311,"identity":"6918224d-522b-4911-966c-d8fa21f8a496","added_by":"auto","created_at":"2026-01-23 07:00:03","extension":"png","order_by":58,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":2157060,"visible":true,"origin":"","legend":"","description":"","filename":"realdataset.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/161a0b984259d9fe33c57559.png"},{"id":100858713,"identity":"7ef297b4-daf5-42f3-907c-aae6d781ce91","added_by":"auto","created_at":"2026-01-22 07:24:41","extension":"bst","order_by":59,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":146013,"visible":true,"origin":"","legend":"","description":"","filename":"snapacite.bst","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/d3ef98c33cb88acb9c849f17.bst"},{"id":100824772,"identity":"1a8b42e8-95a7-486d-9740-8c4673faecfe","added_by":"auto","created_at":"2026-01-21 18:52:51","extension":"bst","order_by":60,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":29828,"visible":true,"origin":"","legend":"","description":"","filename":"snaps.bst","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/dc69d675946c82bb9db38480.bst"},{"id":100858072,"identity":"635f3bba-8f67-4019-8fae-6c5274011023","added_by":"auto","created_at":"2026-01-22 07:23:49","extension":"pdf","order_by":61,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":421391,"visible":true,"origin":"","legend":"","description":"","filename":"snarticle.pdf","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/5272221023f25e0a8e85fa58.pdf"},{"id":100824788,"identity":"5a9fe6dd-ea43-4119-85b8-cf4449ec72b0","added_by":"auto","created_at":"2026-01-21 18:52:52","extension":"bst","order_by":62,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":35515,"visible":true,"origin":"","legend":"","description":"","filename":"snbasic.bst","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/9e3ce833bc9bf3e7729672dd.bst"},{"id":100859946,"identity":"ea1f38e5-8287-415d-a6f2-e5f7d1250218","added_by":"auto","created_at":"2026-01-22 07:34:41","extension":"bst","order_by":63,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":33968,"visible":true,"origin":"","legend":"","description":"","filename":"snchicago.bst","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/2293e86e753ff96a07ca3b6e.bst"},{"id":100824784,"identity":"9edaa8a4-aa57-4dc2-9565-dba3eca942f7","added_by":"auto","created_at":"2026-01-21 18:52:52","extension":"cls","order_by":64,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":55857,"visible":true,"origin":"","legend":"","description":"","filename":"snjnl.cls","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/88eb2d949f8933e4aa31f050.cls"},{"id":100858844,"identity":"aa2d074a-3961-4be4-bf98-3dfd1e80b30d","added_by":"auto","created_at":"2026-01-22 07:24:50","extension":"bst","order_by":65,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":64023,"visible":true,"origin":"","legend":"","description":"","filename":"snmathphysay.bst","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/42635e111ecd3486d0eec88d.bst"},{"id":100858060,"identity":"0ff93c6f-b674-487c-ba8a-c0a3c200f259","added_by":"auto","created_at":"2026-01-22 07:23:47","extension":"bst","order_by":66,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":64166,"visible":true,"origin":"","legend":"","description":"","filename":"snmathphysnum.bst","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/d16c9af4d3f0fffa71d578af.bst"},{"id":100824777,"identity":"0e3e0349-526b-45fd-8250-06344b7d1f2c","added_by":"auto","created_at":"2026-01-21 18:52:51","extension":"bst","order_by":67,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":37333,"visible":true,"origin":"","legend":"","description":"","filename":"snnature.bst","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/ff9b3c45e9ff022c2ddcab86.bst"},{"id":100824758,"identity":"d474da2f-6ea1-4ac7-809f-0b0816fb8c4b","added_by":"auto","created_at":"2026-01-21 18:52:51","extension":"bst","order_by":68,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":39951,"visible":true,"origin":"","legend":"","description":"","filename":"snvancouveray.bst","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/9ffc450502d43a425e520703.bst"},{"id":100949398,"identity":"0d6fbcf3-3c63-4262-ab12-c3e8fec02a5e","added_by":"auto","created_at":"2026-01-23 07:01:48","extension":"bst","order_by":69,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":40758,"visible":true,"origin":"","legend":"","description":"","filename":"snvancouvernum.bst","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/795d795deedaaaf20c1bec34.bst"},{"id":100858043,"identity":"aa79f01a-5038-4507-b182-d53d593557ea","added_by":"auto","created_at":"2026-01-22 07:23:45","extension":"png","order_by":70,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":45769,"visible":true,"origin":"","legend":"","description":"","filename":"systemarch.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/c854222c0ba2f3d9664cd3ec.png"},{"id":100858678,"identity":"ef3c5c57-95bd-4559-8f2b-d486f2e73db8","added_by":"auto","created_at":"2026-01-22 07:24:35","extension":"png","order_by":71,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":3955074,"visible":true,"origin":"","legend":"","description":"","filename":"traj13assembly.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/f4a2e6f65c3d78a20091197a.png"},{"id":100859923,"identity":"f1ff81b1-d678-4ce7-ae22-011268d6d738","added_by":"auto","created_at":"2026-01-22 07:34:25","extension":"png","order_by":72,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":1529900,"visible":true,"origin":"","legend":"","description":"","filename":"traj1assembly.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/08661363d08f4ef098281ab2.png"},{"id":101880393,"identity":"94f20eeb-aba4-4aae-a632-7ee69e29de1e","added_by":"auto","created_at":"2026-02-04 14:59:14","extension":"png","order_by":73,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":2501062,"visible":true,"origin":"","legend":"","description":"","filename":"traj3assembly.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/66a08ec1203937b880d0018f.png"},{"id":100949355,"identity":"eb333ab7-2c84-4ec4-b17c-f49d912b0f70","added_by":"auto","created_at":"2026-01-23 07:01:04","extension":"png","order_by":74,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":1877668,"visible":true,"origin":"","legend":"","description":"","filename":"traj5assembly.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/f8b1b2905c4167249f1f3ece.png"},{"id":100857846,"identity":"bac816d2-32f0-4db6-b875-6922fd6bdbb0","added_by":"auto","created_at":"2026-01-22 07:23:11","extension":"pdf","order_by":75,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":418495,"visible":true,"origin":"","legend":"","description":"","filename":"usermanual.pdf","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/d8d17e858a73dccf98acceca.pdf"},{"id":100858358,"identity":"47f0dfc3-2d7a-4821-9495-c06423bbedc3","added_by":"auto","created_at":"2026-01-22 07:24:13","extension":"png","order_by":76,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":1373030,"visible":true,"origin":"","legend":"","description":"","filename":"warpperspective.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/4ed609e43add71a1181b2045.png"},{"id":100824783,"identity":"0aa7faa6-1459-4c6a-a992-ee874a057b95","added_by":"auto","created_at":"2026-01-21 18:52:52","extension":"png","order_by":77,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":195111,"visible":true,"origin":"","legend":"","description":"","filename":"Online1stcnn.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/27a5bcf29a4278ac541e29ec.png"},{"id":100859482,"identity":"547f059d-3791-4700-9eb5-e3bbf9b38ea8","added_by":"auto","created_at":"2026-01-22 07:30:17","extension":"png","order_by":78,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":215650,"visible":true,"origin":"","legend":"","description":"","filename":"Online2ndcnn.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/3c3361d2ddab56dff435d020.png"},{"id":100857983,"identity":"b6b6633b-a778-4510-9d8a-2989df16cde6","added_by":"auto","created_at":"2026-01-22 07:23:35","extension":"png","order_by":79,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":428259,"visible":true,"origin":"","legend":"","description":"","filename":"OnlineBlenderdatasetgeneration3.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/d0882fdb01cdc4f16c58d9b9.png"},{"id":101202452,"identity":"8d9a954b-778e-40b0-8d50-d723d5d97765","added_by":"auto","created_at":"2026-01-27 09:33:42","extension":"png","order_by":80,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":39464,"visible":true,"origin":"","legend":"","description":"","filename":"OnlineBlender.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/14767ec72b426de52bcf44a3.png"},{"id":100858294,"identity":"5b88b558-5e60-4db9-a34c-f5e35ebef9f3","added_by":"auto","created_at":"2026-01-22 07:24:09","extension":"png","order_by":83,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":2368746,"visible":true,"origin":"","legend":"","description":"","filename":"OnlineChapsarch.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/2da832d428e16421a731af06.png"},{"id":100858333,"identity":"ffecb069-1019-432e-a4df-a667f24e9b07","added_by":"auto","created_at":"2026-01-22 07:24:12","extension":"png","order_by":84,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":129742,"visible":true,"origin":"","legend":"","description":"","filename":"OnlineConOpsSROC.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/71c76c87ef2666c81b504c4e.png"},{"id":101202469,"identity":"b3725b0c-fae0-4011-82ce-374bf5e2021d","added_by":"auto","created_at":"2026-01-27 09:34:05","extension":"png","order_by":85,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":14412,"visible":true,"origin":"","legend":"","description":"","filename":"OnlineFAdatasetdistribution.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/c31a2c89987311ffd952a621.png"},{"id":100858057,"identity":"8ddf0617-a2fd-4509-ba55-374a9cc4161d","added_by":"auto","created_at":"2026-01-22 07:23:47","extension":"png","order_by":86,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":2250524,"visible":true,"origin":"","legend":"","description":"","filename":"OnlineGRALSsetup.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/6d2a3065445cef6af6a6b8f1.png"},{"id":100824792,"identity":"f550bc2f-f021-42dd-ab7d-554b25a743c0","added_by":"auto","created_at":"2026-01-21 18:52:52","extension":"png","order_by":87,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":2753759,"visible":true,"origin":"","legend":"","description":"","filename":"OnlineGRALSsetupassembly.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/38004f94efb078dffdb589af.png"},{"id":100858345,"identity":"14c07347-1764-4e8a-9067-10ea0b436479","added_by":"auto","created_at":"2026-01-22 07:24:13","extension":"png","order_by":89,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":33230,"visible":true,"origin":"","legend":"","description":"","filename":"OnlineHPOhistory.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/4f340deeb75fff2d5ee3128c.png"},{"id":100858209,"identity":"44e15db5-939c-4061-ba20-d654ff7af192","added_by":"auto","created_at":"2026-01-22 07:24:03","extension":"png","order_by":90,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":63555,"visible":true,"origin":"","legend":"","description":"","filename":"OnlineHPOplothistoryexcel.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/3aadbd273dd847bf241d01b2.png"},{"id":100858998,"identity":"e28af25a-13db-47d2-b576-8ff2f3da3cd8","added_by":"auto","created_at":"2026-01-22 07:25:04","extension":"png","order_by":92,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":647626,"visible":true,"origin":"","legend":"","description":"","filename":"OnlinePolitecnicodiTorinoLogo.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/a7c7cd8b7929febee700b881.png"},{"id":100858749,"identity":"2242d9a2-1add-4426-ba3c-8f72f216e536","added_by":"auto","created_at":"2026-01-22 07:24:43","extension":"png","order_by":96,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":86421,"visible":true,"origin":"","legend":"","description":"","filename":"OnlinePosesrealdataset2.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/17f191f666606fc944f7be3f.png"},{"id":100824756,"identity":"3939b795-bfe5-426d-a9b2-b7cdbfb24ca8","added_by":"auto","created_at":"2026-01-21 18:52:51","extension":"png","order_by":97,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":67384,"visible":true,"origin":"","legend":"","description":"","filename":"OnlinePosesrealdataset3.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/95d69e3240f3cc48c24890b3.png"},{"id":100824796,"identity":"959083ca-41ca-4e39-8551-b42429475ce4","added_by":"auto","created_at":"2026-01-21 18:52:53","extension":"png","order_by":98,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":65533,"visible":true,"origin":"","legend":"","description":"","filename":"OnlinePosesrealdataset45.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/05b1588eb3c54981519ae700.png"},{"id":100824765,"identity":"08d28ace-fa29-4a7b-a455-1eaec1f3308f","added_by":"auto","created_at":"2026-01-21 18:52:51","extension":"png","order_by":99,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":741734,"visible":true,"origin":"","legend":"","description":"","filename":"OnlineVbarapproachtestassembly.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/71aacd9266eaf04615e67f9c.png"},{"id":100858403,"identity":"f6dc8a83-a79b-458e-818e-5535e0a302ba","added_by":"auto","created_at":"2026-01-22 07:24:15","extension":"png","order_by":102,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":57858,"visible":true,"origin":"","legend":"","description":"","filename":"Onlineboxtranslationaxisabscomparetraj1.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/1652fe932ad43973337e31ca.png"},{"id":100859839,"identity":"26f2a359-a134-484c-883d-12f56a1b5d17","added_by":"auto","created_at":"2026-01-22 07:33:33","extension":"png","order_by":103,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":58394,"visible":true,"origin":"","legend":"","description":"","filename":"Onlineboxtranslationaxisabscomparetraj3.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/d9d58439b5a7484d3361ac47.png"},{"id":100824768,"identity":"87a4a6f7-bb48-41bd-9d28-368f6dea241e","added_by":"auto","created_at":"2026-01-21 18:52:51","extension":"png","order_by":104,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":116321,"visible":true,"origin":"","legend":"","description":"","filename":"Onlinecameraref2.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/216223ec3e0e20abba7c1aa3.png"},{"id":100824775,"identity":"7515c443-2cce-4016-8293-72305d9e547a","added_by":"auto","created_at":"2026-01-21 18:52:51","extension":"png","order_by":105,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":130602,"visible":true,"origin":"","legend":"","description":"","filename":"Onlinecameraref3.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/21b6c968186985f24fb1f459.png"},{"id":100949326,"identity":"4dcac1d8-7aa2-4261-b829-ed990fe1fc78","added_by":"auto","created_at":"2026-01-23 07:00:40","extension":"png","order_by":106,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":130615,"visible":true,"origin":"","legend":"","description":"","filename":"Onlinecameraref.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/a931cef4aa8a6cc77afd2535.png"},{"id":100858957,"identity":"711d6f32-26ee-4b35-bac7-7b6d59c268ea","added_by":"auto","created_at":"2026-01-22 07:25:00","extension":"png","order_by":108,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":99329,"visible":true,"origin":"","legend":"","description":"","filename":"Onlinecdfrotationerrorcomparetraj1.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/42fae7cc3d88dacddc6f1030.png"},{"id":100858827,"identity":"7069c849-8a54-4d3a-a566-16a80b8d3282","added_by":"auto","created_at":"2026-01-22 07:24:49","extension":"png","order_by":109,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":102504,"visible":true,"origin":"","legend":"","description":"","filename":"Onlinecdfrotationerrorcomparetraj3.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/c4ca4063c570a5a9bca6669f.png"},{"id":100859535,"identity":"1d4716f5-7e36-43f8-b47c-213bfe5c35ad","added_by":"auto","created_at":"2026-01-22 07:30:38","extension":"png","order_by":112,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":105728,"visible":true,"origin":"","legend":"","description":"","filename":"Onlinecdftranslationnormcomparetraj1.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/c51c00287860be704c4d2379.png"},{"id":100949505,"identity":"1a3515cc-8f43-43d1-a166-43bde8c9ace5","added_by":"auto","created_at":"2026-01-23 07:03:25","extension":"png","order_by":113,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":108593,"visible":true,"origin":"","legend":"","description":"","filename":"Onlinecdftranslationnormcomparetraj3.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/f7f273511213e5feec702915.png"},{"id":100824795,"identity":"9ec4bc87-a699-484d-9296-12a5ea430480","added_by":"auto","created_at":"2026-01-21 18:52:52","extension":"png","order_by":114,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":284606,"visible":true,"origin":"","legend":"","description":"","filename":"Onlinecnnarchitecture.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/89f3d3c0a5092cc5d4ce2646.png"},{"id":100859080,"identity":"e5457c9f-27a5-4eb4-815a-834f00817d46","added_by":"auto","created_at":"2026-01-22 07:25:14","extension":"png","order_by":115,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":336033,"visible":true,"origin":"","legend":"","description":"","filename":"Onlinecnnarchitecturenew.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/1033a568cc3134120fcd14cb.png"},{"id":100858813,"identity":"f213aa1c-2da6-4823-b028-a33fd4a37f32","added_by":"auto","created_at":"2026-01-22 07:24:48","extension":"png","order_by":116,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":196441,"visible":true,"origin":"","legend":"","description":"","filename":"Onlinecnnarchitectureonlyeffpose.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/dfc5fc7afbfcbb0e5f2ca3a0.png"},{"id":100858597,"identity":"578cdc3f-c7e1-4632-bb9f-d9eaa7e6d2c7","added_by":"auto","created_at":"2026-01-22 07:24:30","extension":"png","order_by":118,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":126388,"visible":true,"origin":"","legend":"","description":"","filename":"Onlineinitialphasefinal.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/72bc02e58655a893c75d4c58.png"},{"id":100859469,"identity":"2bc56ab8-2afa-4e0c-8c19-455ec3303b40","added_by":"auto","created_at":"2026-01-22 07:29:47","extension":"png","order_by":119,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":128558,"visible":true,"origin":"","legend":"","description":"","filename":"Onlineinitialphasefinal1.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/a985bb0a56f610c3d5961467.png"},{"id":100824790,"identity":"10007fc8-6502-4c46-b293-b9954eadde93","added_by":"auto","created_at":"2026-01-21 18:52:52","extension":"png","order_by":120,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":57867,"visible":true,"origin":"","legend":"","description":"","filename":"Onlinekeyptsexampledark.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/68122e9d1804f2a2e6f5e65b.png"},{"id":100859835,"identity":"6ca7da87-1750-4e70-a6e8-2b587fedb47d","added_by":"auto","created_at":"2026-01-22 07:33:33","extension":"png","order_by":121,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":17067,"visible":true,"origin":"","legend":"","description":"","filename":"OnlinelogoSCUDO2021blu.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/e1d140f6c5bf31314981b809.png"},{"id":100858429,"identity":"cd64528b-cc34-4e55-b0e4-3280366942d3","added_by":"auto","created_at":"2026-01-22 07:24:17","extension":"png","order_by":123,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":15750,"visible":true,"origin":"","legend":"","description":"","filename":"Onlineobsdatasetdistribution.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/20b8209b7728fac8460c4460.png"},{"id":100857976,"identity":"9bd17531-abfd-4f18-a3d9-2ea000321edd","added_by":"auto","created_at":"2026-01-22 07:23:34","extension":"png","order_by":126,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":188460,"visible":true,"origin":"","legend":"","description":"","filename":"Onlineoptunapipeline.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/7a00a211276c7b9cd0e97760.png"},{"id":100859936,"identity":"6cd4f656-04ae-4a32-a071-fbcf96dc20dc","added_by":"auto","created_at":"2026-01-22 07:34:35","extension":"png","order_by":129,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":2742745,"visible":true,"origin":"","legend":"","description":"","filename":"Onlinetraj13assembly.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/cc70daf83368d97144bdcdb1.png"},{"id":100824787,"identity":"d9661fa8-d298-40f0-8f66-8e90dcddaf06","added_by":"auto","created_at":"2026-01-21 18:52:52","extension":"png","order_by":130,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":1164225,"visible":true,"origin":"","legend":"","description":"","filename":"Onlinetraj1assembly.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/c5c3437a6e811edd31d2dfba.png"},{"id":100858699,"identity":"31b6f988-6a8e-4615-958a-700f39088995","added_by":"auto","created_at":"2026-01-22 07:24:38","extension":"png","order_by":131,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":1595688,"visible":true,"origin":"","legend":"","description":"","filename":"Onlinetraj3assembly.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/c31bc34dc9b0bec5426c6c8a.png"},{"id":100858738,"identity":"23eae8e2-9422-4859-b8d8-4c86c6d1349d","added_by":"auto","created_at":"2026-01-22 07:24:42","extension":"png","order_by":132,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":1330713,"visible":true,"origin":"","legend":"","description":"","filename":"Onlinetraj5assembly.png","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/fa0cb3bf49216ee48bf0e5a3.png"},{"id":100859929,"identity":"d758a0c4-152e-431b-a279-d64516cebfc7","added_by":"auto","created_at":"2026-01-22 07:34:30","extension":"xml","order_by":134,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":251884,"visible":true,"origin":"","legend":"","description":"","filename":"a7bc437d81aa472686d77acbc5e7d5ea1structuring.xml","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/492a9c4e083676548098d692.xml"},{"id":100859845,"identity":"0ce094e2-e635-46c8-b476-8180abd68ff5","added_by":"auto","created_at":"2026-01-22 07:33:36","extension":"html","order_by":135,"title":"","display":"","copyAsset":false,"role":"acdc-reference","size":281788,"visible":true,"origin":"","legend":"","description":"","filename":"earlyproof.html","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1/fb7b3901983899d84e697c40.html"},{"id":101883051,"identity":"78b6a42b-512f-465b-ab35-e2e60f6d663b","added_by":"auto","created_at":"2026-02-04 15:27:07","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":3459441,"visible":true,"origin":"","legend":"","description":"","filename":"CEASVNreviewed.pdf","url":"https://assets-eu.researchsquare.com/files/rs-8545599/v1_covered_06e7081a-11ec-4250-9f5d-e2919b248833.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"Experimental Verification of a Monocular CNN-Based Pose Estimation Algorithm for the SROC Mission","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":false,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"ceas-space-journal","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":false,"externalIdentity":"ceas","sideBox":"Learn more about [CEAS Space Journal](http://link.springer.com/journal/12567)","snPcode":"12567","submissionUrl":"https://submission.nature.com/new-submission/12567/3","title":"CEAS Space Journal","twitterHandle":"","acdcEnabled":true,"dfaEnabled":true,"editorialSystem":"stoa","reportingPortfolio":"Springer Hybrid","inReviewEnabled":true,"inReviewRevisionsEnabled":false},"keywords":"On-Orbit Servicing (OOS), rendezvous and docking, pose estimation, visual navigation, Convolutional Neural Network (CNN), hyperparameter optimization","lastPublishedDoi":"10.21203/rs.3.rs-8545599/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-8545599/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"\u003cp\u003eThis work presents a Convolutional Neural Network (CNN)-based framework for monocular pose estimation of spacecraft in the context of the ESA Space Rider Observer CubeSat (SROC) mission. The mission, led by a consortium of Italian institutions, involves autonomous proximity operations including inspection and docking maneuvers with the Space Rider vehicle. Given the constraints of CubeSat-class hardware, we explore an efficient and adaptable CNN-based solution for relative navigation using only optical input.\u003c/p\u003e\n\u003cp\u003eIn order to address the challenges of domain gap between synthetic and real data, a high-fidelity synthetic dataset was generated using Blender with realistic lighting conditions and applying dataset augmentation techniques. Real image datasets were acquired at ESA’s GRALS facility with a COTS camera to test the trained models with a 1:20 mockup of Space Rider. A hyperparameter optimization (HPO) was conducted using the Optuna framework to enhance training performance. Multiple training strategies were evaluated, including fine-tuning techniques and dataset mixing approaches, to enhance performances on a specific maneuver that requires greater accuracy.\u003c/p\u003e\n\u003cp\u003eThe trained networks were deployed on the Payload Processing Unit using the ONNX Runtime framework for inference. Tests demonstrated consistent and reliable performance across multiple scenarios. These results confirm that, when supported by domain adaptation and hyperparameter optimization, the proposed CNN architecture can achieve accurate pose estimation under limited computational resources, making it a strong candidate for future autonomous CubeSat applications.\u003c/p\u003e","manuscriptTitle":"Experimental Verification of a Monocular CNN-Based Pose Estimation Algorithm for the SROC Mission","msid":"","msnumber":"","nonDraftVersions":[{"code":1,"date":"2026-01-21 18:52:44","doi":"10.21203/rs.3.rs-8545599/v1","editorialEvents":[{"type":"communityComments","content":0},{"type":"reviewerAgreed","content":"71791833048400867191333275423166979511","date":"2026-05-18T09:20:14+00:00","index":"hide","fulltext":""},{"type":"editorInvitedReview","content":"","date":"2026-04-27T17:19:53+00:00","index":"hide","fulltext":""},{"type":"reviewerAgreed","content":"255615659572467975737630742448219854419","date":"2026-04-03T16:30:32+00:00","index":"hide","fulltext":""},{"type":"reviewersInvited","content":"","date":"2026-01-19T12:11:56+00:00","index":"","fulltext":""},{"type":"editorAssigned","content":"","date":"2026-01-09T06:51:24+00:00","index":"","fulltext":""},{"type":"checksComplete","content":"","date":"2026-01-08T06:01:14+00:00","index":"","fulltext":""},{"type":"submitted","content":"CEAS Space Journal","date":"2026-01-07T23:45:40+00:00","index":"","fulltext":""}],"status":"published","journal":{"display":true,"email":"[email protected]","identity":"ceas-space-journal","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":false,"externalIdentity":"ceas","sideBox":"Learn more about [CEAS Space Journal](http://link.springer.com/journal/12567)","snPcode":"12567","submissionUrl":"https://submission.nature.com/new-submission/12567/3","title":"CEAS Space Journal","twitterHandle":"","acdcEnabled":true,"dfaEnabled":true,"editorialSystem":"stoa","reportingPortfolio":"Springer Hybrid","inReviewEnabled":true,"inReviewRevisionsEnabled":false}}],"origin":"","ownerIdentity":"c2ef4bdc-ba4d-465e-9036-2e9caf0a86fe","owner":[],"postedDate":"January 21st, 2026","published":true,"recentEditorialEvents":[{"type":"reviewerAgreed","content":"71791833048400867191333275423166979511","date":"2026-05-18T09:20:14+00:00","index":40,"fulltext":""}],"rejectedJournal":[],"revision":"","amendment":"","status":"under-review","subjectAreas":[],"tags":[],"updatedAt":"2026-01-21T18:52:45+00:00","versionOfRecord":[],"versionCreatedAt":"2026-01-21 18:52:44","video":"","vorDoi":"","vorDoiUrl":"","workflowStages":[]},"version":"v1","identity":"rs-8545599","journalConfig":"researchsquare"},"__N_SSP":true},"page":"/article/[identity]/[[...version]]","query":{"redirect":"/article/rs-8545599","identity":"rs-8545599","version":["v1"]},"buildId":"XKTyCvWXoU3ODBz1xrDgd","isFallback":false,"isExperimentalCompile":false,"dynamicIds":[84888],"gssp":true,"scriptLoader":[]}