Pith Number

pith:H5JNI2XZ

pith:2026:H5JNI2XZ45NHXVNSUX3NTN5YRK

not attested not anchored not stored refs pending

Altitude-Adaptive Vision-Only Geo-Localization for UAVs in GPS-Denied Environments

Chunyu Li, Liangzheng Sun, Mengfan He, Xingyu Shao, Ziyang Meng

Estimating relative altitude from one downward image normalizes scale and raises UAV retrieval recall by over 40 points.

arxiv:2602.23872 v3 · 2026-02-27 · cs.CV · cs.RO

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{H5JNI2XZ45NHXVNSUX3NTN5YRK}

Prints a linked badge after your title and injects PDF metadata. Compiles on arXiv. Learn more · Embed verified badge

Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

With our visual place recognition module, altitude adaptation improves average R@1 and R@5 by 41.50 and 56.83 percentage points, respectively, compared with using the same retrieval pipeline without altitude normalization.

C2weakest assumption

Relative altitude can be reliably estimated from a single downward-looking image by frequency-domain transformation formulated as a regression-as-classification problem, supplying an effective scale prior that benefits downstream visual place recognition under significant altitude variations.

C3one line summary

A vision-only system estimates altitude from one downward image to normalize scale and improve UAV geo-localization accuracy under large height changes.

Formal links

2 machine-checked theorem links

Receipt and verification

First computed	2026-05-26T02:03:10.569289Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

3f52d46af9e75a7bd5b2a5f6d9b7b88a97b36f4996030ca034eeb2fbfa645319

Aliases

arxiv: 2602.23872 · arxiv_version: 2602.23872v3 · doi: 10.48550/arxiv.2602.23872 · pith_short_12: H5JNI2XZ45NH · pith_short_16: H5JNI2XZ45NHXVNS · pith_short_8: H5JNI2XZ

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/H5JNI2XZ45NHXVNSUX3NTN5YRK \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 3f52d46af9e75a7bd5b2a5f6d9b7b88a97b36f4996030ca034eeb2fbfa645319

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "5531e7350f995523787c523dd4141cf34ba5e219b7a8873d0c910f6199e21029",
    "cross_cats_sorted": [
      "cs.RO"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.CV",
    "submitted_at": "2026-02-27T10:15:15Z",
    "title_canon_sha256": "8dcb3ee82d4faabd2a81ab2e9219617eece6dada73e5980283cdfa9276e18175"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2602.23872",
    "kind": "arxiv",
    "version": 3
  }
}