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Accurate rainfall monitoring is essential for mitigating hydrometeorological disasters and understanding hydrological changes under climate change. This study presents a deep learning-based rainfall estimation framework using multispectral GEO-KOMPSAT-2A (GK2A) satellite imagery. The analysis primarily focuses on daytime observations to take advantage of visible channel information, which provides richer representations of cloud characteristics during daylight conditions. The core model, Model-HSP, is built on the Pix2PixCC architecture and trained with Hybrid Surface Precipitation (HSP) data from weather radar. To further enhance accuracy, an ensemble model (Model-ENS) integrates the outputs of Model-HSP and a radar based Model-CMX, leveraging their complementary strengths for improved generalization, robustness, and stability across rainfall regimes. Performance was evaluated over two periods—a one year period from May 2023 to April 2024 and the August 2023 monsoon season—at 2 km and 4 km spatial resolutions, using RMSE and CC as quantitative metrics. Case analyses confirmed the superior capability of Model-ENS in capturing rainfall distribution, intensity, and temporal evolution across diverse weather conditions. These findings show that deep learning greatly enhances GEO satellite rainfall estimation, enabling real-time, high-resolution monitoring even in radar sparse or limited coverage regions, and offering strong potential for global and regional hydrometeorological and climate research applications.