# Polarity-Time Interaction and Multi-Level Reliability for Event-Based Spacecraft Pose Estimation

- Source: arXiv cs.RO
- Published: 2026-10-28T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/vuu12oo73pvmh0rteg25a96cb
- Original: https://arxiv.org/abs/2610.36625

## Summary

This study proposes a reliability-aware framework that connects polarity-time localization, geometric recovery, event-CAD refinement, and trajectory optimization in sequence, using a three-branch representation that combines positive events, negative events, and recent-event timing. On the official SPADES challenge test set, the complete system achieves a combined pose score of 0.0474, about 5.4% lower than PASAN+IRIS. Ablations show that base localization with uniform PnP scores 0.0772, while the full cascade reduces it to 0.0514; under identical single-frame observations, quality weighting lowers the score from 0.0549 to 0.0514.