Author

Gašper Spagnolo

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Preprint Aug 2026

Evaluation of Monocular SLAM Systems on High-Altitude Nadir UAV Footage

Aerial nadir video combines weak geometric constraints with severe perceptual aliasing, making it a difficult regime for monocular SLAM. We benchmark five monocular SLAM systems on local UAV flights, synthetic city-scale imagery, and long-range aerial sequences. To isolate visual performance, we provide no inertial or...

Gašper Spagnolo, Matej Dobrevski, D. Skočaj · 0 citations

Preprint Aug 2026

Evaluation of Image Matching Methods for Visual Odometry on UAVs

This paper evaluates recent state-of-the-art image matching methods for the task of VO for UAV position tracking, with a downwards-facing camera, on a synthetic dataset, and finds that while the best results are generated by the recent RoMa matcher, SIFT features can outperform some recent state-of-the-art methods.

Gašper Spagnolo, L. Č. Zajc, Matej Dobrevski · 1 citation