SPACE-HOP

Spacecraft 6-DoF Pose Estimation using Embedding-Predictive Pretraining and Hopf Map

• First application of Joint-Embedding Predictive Architectures (JEPA) to the spacecraft domain.
• Keypoint masking strategy that forces the network to learn deep 3D structure under severe orbital occlusions.
• Rotation framed as Classification-and-Refinement on a uniform Hopf fibration grid with continuous Lie algebra offsets.
• Bypasses heavy PnP solvers — 18.0 ± 3.8 ms latency on NVIDIA Jetson Orin.