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Large-Scale Geometric Map-Based Localization of UAVs in GNSS-Denied Urban Environments

arXiv · AI, language, vision and robotics · article · Sep 23, 2026 · UTC

Unmanned aerial vehicles (UAVs) operating in GNSS-denied urban environments require alternative methods for position estimation. Existing approaches based on satellite image retrieval or learned descriptors are sensitive to appearance variation and degrade rapidly as the search area grows. We present a vision-based localization system that matches building patterns observed from a downward-facing UAV camera against a reference building footprint database. Our approach detects buildings in aerial imagery, accumulates observations across frames into a unified map, and matches local building arra

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