PACE: Polar Axis-Conditioned Estimation for PairUAV Relative Localization
PairUAV relative localization maps two UAV images to a polar navigation command. Although heading and range share the same pairwise pose context, treating them as homogeneous coordinates forces both outputs to use the same decoder evidence and optimization state. Controlled readout probes reveal a different structure: the two axes favor different decoder-depth combinations, their best checkpoints disagree on 80.8% of a validation trajectory, and range errors exhibit a distinct high-error tail. We introduce method, Polar Axis-Conditioned Estimation, which retains a shared Reloc3r-style pair representation while assigning axis-specific readout interfaces. Heading uses mid/late relational ev...
| Authors | Ze Rong |
|---|---|
| Primary category | cs.CV |
| Published | 19 July 2026 |
| Last updated at source | 19 July 2026 |
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