RASR: Range-Aware Scale Recovery for Metric UAV Navigation
A central challenge in image-goal UAV navigation under Global Navigation Satellite System (GNSS) denial is estimating metric distance and heading between current and goal views. Dense pairwise geometry models capture relative scene structure, but without a calibrated metric scale, they cannot directly provide reliable distance estimates for navigation. Although global scale calibration corrects the dominant scale bias, the remaining errors vary systematically with distance. In this paper, Range-Aware Scale Recovery (RASR) is proposed, which complements global scale calibration with range-aware residual correction. RASR encodes pairwise geometry extracted by a frozen Matching And Stereo 3D...
| Authors | Hongtao Liang, Xinyu Shao, Chenxu Wang et al. |
|---|---|
| Primary category | cs.RO |
| Published | 10 July 2026 |
| Last updated at source | 16 July 2026 |
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