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cs.RO2026
Large-Scale Geometric Map-Based Localization of UAVs in GNSS-Denied Urban Environments
Garth Terlizzi, Kaveh Fathian
Unmanned aerial vehicles (UAVs) operating in GNSS-denied urban environments require alternative methods for position estimation. Existing approaches based on satellite image retrie…
cs.RO2026
PARTE: Plane-Assisted Robust Transformation Estimation for Point Cloud Registration
Abolfazl Babanazari, Carson Cramer, Tyler Summers +2
Global point-cloud registration remains challenging when limited overlap, repetitive geometry, and sensor noise produce correspondence sets dominated by outliers. Planar regions ar…