AirAlign: Geometry-Aware Relative Pose Alignment for UAV Last-Meter Navigation
Unmanned aerial vehicle (UAV) navigation in modern low-altitude environments requires more accurate pose alignment in the final approach stage for target information acquisition or manipulation, making "last-meter" navigation increasingly important. However, severe viewpoint and appearance variations make this task challenging. To tackle this problem, we propose AirAlign, a framework for RGB-only image-pair relative pose alignment for UAVs. AirAlign uses a pretrained visual geometry reconstruction model as the backbone to extract geometry-aware features from source-target image pairs. In addition, to better utilize the limited training data, we split the training set into multiple scene-d...
| Authors | Jinyi Zhou, Shuo Feng, Yufei Wu et al. |
|---|---|
| Primary category | cs.CV |
| Published | 22 August 2026 |
| Last updated at source | 22 August 2026 |
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