Table 5. Software simulation of spacecraft in the background of Earth: Comparison of results with other studies

	Proença & Gao (2019)	Sharma & D’Amico (2019)	Ours
Satellite model	Soyuz	Tango	Pumbaa
Deep learning model	ResNet-50	SPN	HRNet
Input image size	320 × 240	224 × 224	256 × 192
Color/Gray	Color	Gray	Color
Number of training images	4,500	12,000	3,600
Satellite size	7.48 m	1.30 m	0.30 m
Distance range	10–40 m	3–50 m	1–10 m
Distance error	1.6 m	[0.055 0.046 0.78] m	0.044 m
Orientation error	24.9°	8.4254°	11.1°

SPN, spacecraft pose network; HRNet, high-resolution network.