Author

Xiaokai Song

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Preprint Oct 2026

DSM-Free UAV Visual Localization via Latent-Depth Variable Projection and Structure-Adaptive Coupling

Visual localization enables unmanned aerial vehicles (UAVs) to maintain absolute positioning in GNSS-denied environments. A common approach matches UAV images with geo-tagged orthographic maps and estimates camera pose using Perspective-n-Point (PnP) with elevations from Digital Surface Models (DSMs). However, accurate...

Yi-Bin Ye, Xi-Chao Teng, Shuo Chen et al. · 0 citations

Preprint Aug 2026

DECO: Depth-Guided Co-Visibility Reasoning for Low-Altitude UAV Visual Localization

DECO is proposed, a DEpth-guided CO-visibility reasoning framework for low-altitude UAV visual localization that retains keypoints that are both visually distinctive and geometrically co-visible, improving feature matching and PnP-based pose estimation.

Yi-Bin Ye, Xi-Chao Teng, Shuo Chen et al. · 0 citations