{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:H5JNI2XZ45NHXVNSUX3NTN5YRK","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"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}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2602.23872","created_at":"2026-05-26T02:03:10Z"},{"alias_kind":"arxiv_version","alias_value":"2602.23872v3","created_at":"2026-05-26T02:03:10Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2602.23872","created_at":"2026-05-26T02:03:10Z"},{"alias_kind":"pith_short_12","alias_value":"H5JNI2XZ45NH","created_at":"2026-05-26T02:03:10Z"},{"alias_kind":"pith_short_16","alias_value":"H5JNI2XZ45NHXVNS","created_at":"2026-05-26T02:03:10Z"},{"alias_kind":"pith_short_8","alias_value":"H5JNI2XZ","created_at":"2026-05-26T02:03:10Z"}],"graph_snapshots":[{"event_id":"sha256:1f608a12fc4a761db23103e1b85679cedc30d8d147bb2ee51faaad73fed87c66","target":"graph","created_at":"2026-05-26T02:03:10Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":4,"items":[{"attestation":"unclaimed","claim_id":"C1","kind":"strongest_claim","source":"verdict.strongest_claim","status":"machine_extracted","text":"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."},{"attestation":"unclaimed","claim_id":"C2","kind":"weakest_assumption","source":"verdict.weakest_assumption","status":"machine_extracted","text":"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."},{"attestation":"unclaimed","claim_id":"C3","kind":"one_line_summary","source":"verdict.one_line_summary","status":"machine_extracted","text":"A vision-only system estimates altitude from one downward image to normalize scale and improve UAV geo-localization accuracy under large height changes."},{"attestation":"unclaimed","claim_id":"C4","kind":"headline","source":"verdict.pith_extraction.headline","status":"machine_extracted","text":"Estimating relative altitude from one downward image normalizes scale and raises UAV retrieval recall by over 40 points."}],"snapshot_sha256":"e3b6a5737d06905542424ff2f657a2598e98895ccb1b3db733c5c35d0ca27745"},"formal_canon":{"evidence_count":2,"snapshot_sha256":"3bdbced86dd79cdb299288e30ca8bf19779030c7aa70de8f5fa2dca25f6c7fbb"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2602.23872/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"To address the scale mismatch caused by large altitude variations in UAV visual place recognition, we propose a monocular vision-only altitude-adaptive geo-localization framework. The method first estimates relative altitude from a single downward-looking image by transforming the input into the frequency domain and formulating altitude estimation as a regression-as-classification (RAC) problem. The estimated altitude is then used to crop the query image to a canonical scale, after which a classification-then-retrieval visual place recognition module performs coarse localization. To improve re","authors_text":"Chunyu Li, Liangzheng Sun, Mengfan He, Xingyu Shao, Ziyang Meng","cross_cats":["cs.RO"],"headline":"Estimating relative altitude from one downward image normalizes scale and raises UAV retrieval recall by over 40 points.","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CV","submitted_at":"2026-02-27T10:15:15Z","title":"Altitude-Adaptive Vision-Only Geo-Localization for UAVs in GPS-Denied Environments"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2602.23872","kind":"arxiv","version":3},"verdict":{"created_at":"2026-05-15T18:59:31.106454Z","id":"5c10d2d0-88fe-465c-92cc-761e9a3a1ed4","model_set":{"reader":"grok-4.3"},"one_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.","pipeline_version":"pith-pipeline@v0.9.0","pith_extraction_headline":"Estimating relative altitude from one downward image normalizes scale and raises UAV retrieval recall by over 40 points.","strongest_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.","weakest_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."}},"verdict_id":"5c10d2d0-88fe-465c-92cc-761e9a3a1ed4"}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:d44a854941d4fec44f27584f85ed2cd4e5ad29d89aa37dd9a78bfb4a06394fa9","target":"record","created_at":"2026-05-26T02:03:10Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"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}},"canonical_sha256":"3f52d46af9e75a7bd5b2a5f6d9b7b88a97b36f4996030ca034eeb2fbfa645319","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"3f52d46af9e75a7bd5b2a5f6d9b7b88a97b36f4996030ca034eeb2fbfa645319","first_computed_at":"2026-05-26T02:03:10.569289Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-26T02:03:10.569289Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"bUMVJoOVZAdnKUWsXYm1wrT1wM+C+gRxBou5YrrM3TqF3xUes7XcPfPY9PyBeKaYhLrVLTD9epdG8B/yv8PtAA==","signature_status":"signed_v1","signed_at":"2026-05-26T02:03:10.570296Z","signed_message":"canonical_sha256_bytes"},"source_id":"2602.23872","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:d44a854941d4fec44f27584f85ed2cd4e5ad29d89aa37dd9a78bfb4a06394fa9","sha256:1f608a12fc4a761db23103e1b85679cedc30d8d147bb2ee51faaad73fed87c66"],"state_sha256":"88db91ad38f6dd60061fbc6b78edc57c650bd5bf3cde658398bb20ccc8f3110d"}