Spacecraft Pose Estimation Dataset (SPEED)

The SPEED dataset is the official dataset of ESA's Kelvins "Pose Estimation challenge" in collaboration with Stanford Universitiy's Space Rendezvous Lab (SLAB). It features images and poses of the Tango spacecraft (PRISMA mission), 12000 of them generated by SLAB's Optical Simulator using a high fidelity texture model and 300 images from the TRON facility, using a  physical mock-up model of Tango.

The goal of the competition was estimate the relative pose (distance and orientation) from pixel images only.

Detailed information about the original competition can be found at https://kelvins.esa.int/satellite-pose-estimation-challenge/

A follow-up competition with a larger and improved dataset (SPEED+) is available on Zenodo as well: https://zenodo.org/record/5588480

A publication about the results of the pose estimation challenge has been published as

Kisantal, Mate, et al. "Satellite pose estimation challenge: Dataset, competition design, and results." IEEE Transactions on Aerospace and Electronic Systems 56.5 (2020): 4083-4098.