CLSC DETR introduces a Cross Layer Local Support module that links final layer queries with intermediate layer candidates to gather complementary geometric evidence, improving localization quality estimation for small UAV objects. A Classification and Localization Consistency Calibration module then adjusts classification scores based on this quality and reliability, enhancing candidate ranking. The method yields a 1.5% AP and 2.0% AP$_{75}$ boost on VisDrone and consistent gains on UAVDT.
Global visual localization of unmanned aerial vehicles (UAVs) using remote-sensing reference maps has attracted increasing attention. However, acquisition-time and imaging-platform differences between UAV and reference imagery induce substantial cross-domain appearance and viewpoint shifts, challenging robust six-degree-of-freedom (6-DoF) pose estimation.
UFO-DETR is an end‑to‑end object detection framework designed for UAV imagery, addressing challenges such as scale variation, dense distribution, and the prevalence of tiny targets. It employs an LSKNet backbone to optimize receptive fields and reduce parameters, integrates DAttention and AIFI modules for flexible multi‑scale spatial modeling, and introduces a DynFreq‑C3 module that enhances small target detection via cross‑space frequency feature enhancement. Experiments demonstrate that UFO‑DETR outperforms RT‑DETR‑L in detection accuracy while improving computational efficiency, making it suitable for UAV edge computing.
arXiv:2607. 25524v1 Announce Type: cross Abstract: Unmanned aerial vehicle (UAV)-satellite cross-view geo-localization matches UAV images against satellite imagery and has achieved impressive accuracy on clean (non-degraded) image benchmarks.
arXiv:2608.22289v1 Announce Type: new Abstract: Unmanned aerial vehicles (UAVs) increasingly require robust visual localization in GNSS-denied environments. A common solution estimates UAV poses by m...
The paper introduces RACO, a reliability‑aware adaptive coarse‑to‑fine navigation framework for inspection‑oriented UAV vision‑language navigation. It treats the coarse goal as a runtime hypothesis, using object‑level anchors to correct localization before and at the transition to the fine stage, and applies scale‑adaptive terminal refinement for near‑miss cases. RACO is evaluated on the new LG‑UVI inspection setting and outperforms the HETT baseline by 9.53 and 7.98 percentage points on validation‑unseen and test‑unseen, respectively, while improving inspection‑region arrival and reducing false verification risk.
arXiv:2608.25274v1 Announce Type: new Abstract: Fine-grained Cross-View Localization (CVL) estimates the precise position and orientation of a ground-level image by aligning it with geo-referenced ae...
UAV vision-language navigation (UAV-VLN) is commonly evaluated as goal reaching, but inspection-oriented deployment requires the agent to stop within a valid inspection region and avoid falsely confir...
arXiv:2607. 01759v1 Announce Type: cross Abstract: Open-vocabulary object detection aims to localize and classify objects beyond the fixed set of categories seen dur ing training.
arXiv:2606. 01612v1 Announce Type: cross Abstract: Can internal attention patterns in Large Vision Language Models (LVLMs) identify reliable small-object boxes without fine-tuning?
GNSS-denied unmanned aerial vehicles require occasional absolute position fixes to bound the drift of visual-inertial odometry. Cross-view image retrieval can provide such fixes, but raw appearance is sensitive to season, illumination, viewpoint, map age, and sensor modality.
arXiv:2603. 04277v2 Announce Type: replace-cross Abstract: Autonomous aerial robots operating in GPS-denied or communication-degraded environments frequently lose access to camera metadata and telemetry, leaving onboard perception systems unable to recover the absolute metric scale of the scene.
The paper introduces a model‑agnostic open‑set detection framework for air‑to‑air visual object detection on UAVs, addressing the limitations of closed‑set detectors under domain shifts and flight data corruption. It estimates semantic uncertainty through entropy modeling in the embedding space and employs spectral normalization and temperature scaling to improve open‑set discrimination. Experiments on the AOT aerial benchmark and real‑world flight tests show up to a 10% relative AUROC improvement over standard YOLO detectors, with background rejection further enhancing robustness without sacrificing accuracy.