arxivcs.ROcs.CV2026-07-10
RASR: Range-Aware Scale Recovery for Metric UAV Navigation
Hongtao Liang, Xinyu Shao, Chenxu Wang, Yiyao Wan, Jiahuan Ji, Fangwei Ye, et al.
A central challenge in image-goal UAV navigation under Global Navigation Satellite System (GNSS) denial is estimating metric distance and heading between current and goal views. Dense pairwise geometry models capture relative scene structure, but without a calibrated metric scale…