A vision-only system estimates altitude from one downward image to normalize scale and improve UAV geo-localization accuracy under large height changes.
Robust global localization for urban autonomous vehicles via 3D geometric-enhanced visual place recognition,
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Altitude-Adaptive Vision-Only Geo-Localization for UAVs in GPS-Denied Environments
A vision-only system estimates altitude from one downward image to normalize scale and improve UAV geo-localization accuracy under large height changes.