Deep space probes have limited power consumption and volume, and have diverse mission conditions. Compared with low-orbit earth probes, deep space probes have higher requirements for the mission capabilities of navigation sensors. This paper proposed a fast pose measurement and ground object recognition technology based on time-of-flight imaging. In order to meet the time requirements of pose measurement under the premise of ensuring the accuracy of pose measurement, a dynamic scale estimation method based on depth information was proposed. This method improved the temporal stability of point cloud registration under multi-scale object-side changes. The average registration time was reduced by more than 60% and the average registration accuracy was about 0.04 m. In order to meet the needs of multi-scale and multi-morph object recognition, a light-weight deep neural network was used to detect ground objects based on scene depth information. The results show that this method can quickly perceive the features of ground features, and the accuracy rate is more than 70% in real scenes.