{"id":"https://openalex.org/W7133701160","doi":"https://doi.org/10.48550/arxiv.2603.04050","title":"HE-VPR: Height Estimation Enabled Aerial Visual Place Recognition Against Scale Variance","display_name":"HE-VPR: Height Estimation Enabled Aerial Visual Place Recognition Against Scale Variance","publication_year":2026,"publication_date":"2026-03-04","ids":{"openalex":"https://openalex.org/W7133701160","doi":"https://doi.org/10.48550/arxiv.2603.04050"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2603.04050","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5128211212","display_name":"Mengfan He","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"He, Mengfan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127865694","display_name":"Xingyu Shao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shao, Xingyu","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128202324","display_name":"Chunyu Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Chunyu","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128174998","display_name":"Chao Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Chao","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128212918","display_name":"Liangzheng Sun","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sun, Liangzheng","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128169893","display_name":"Ziyang Meng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Meng, Ziyang","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5128209546","display_name":"Yuanqing Wu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wu, Yuanqing","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5128211212"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.770799994468689,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.770799994468689,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.10939999669790268,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.015599999576807022,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.6378999948501587},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6353999972343445},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.6086999773979187},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.5586000084877014},{"id":"https://openalex.org/keywords/partition","display_name":"Partition (number theory)","score":0.4936000108718872},{"id":"https://openalex.org/keywords/aerial-image","display_name":"Aerial image","score":0.4104999899864197},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.3968999981880188},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.3700000047683716}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7117000222206116},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.6378999948501587},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6353999972343445},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.6086999773979187},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.5586000084877014},{"id":"https://openalex.org/C42812","wikidata":"https://www.wikidata.org/wiki/Q1082910","display_name":"Partition (number theory)","level":2,"score":0.4936000108718872},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4927000105381012},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4652000069618225},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.41100001335144043},{"id":"https://openalex.org/C2776429412","wikidata":"https://www.wikidata.org/wiki/Q4688011","display_name":"Aerial image","level":3,"score":0.4104999899864197},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.3968999981880188},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.3700000047683716},{"id":"https://openalex.org/C1667742","wikidata":"https://www.wikidata.org/wiki/Q10927554","display_name":"Image retrieval","level":3,"score":0.357699990272522},{"id":"https://openalex.org/C13670688","wikidata":"https://www.wikidata.org/wiki/Q3500548","display_name":"Space partitioning","level":2,"score":0.3319000005722046},{"id":"https://openalex.org/C99102927","wikidata":"https://www.wikidata.org/wiki/Q3058184","display_name":"Scale space","level":4,"score":0.3292999863624573},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.32829999923706055},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3151000142097473},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3046000003814697},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.3005000054836273},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.29679998755455017},{"id":"https://openalex.org/C196083921","wikidata":"https://www.wikidata.org/wiki/Q7915758","display_name":"Variance (accounting)","level":2,"score":0.29330000281333923},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2842000126838684},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.2759000062942505},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.2702000141143799},{"id":"https://openalex.org/C184898388","wikidata":"https://www.wikidata.org/wiki/Q1435712","display_name":"Pairwise comparison","level":2,"score":0.2678999900817871},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.2565000057220459},{"id":"https://openalex.org/C2777402240","wikidata":"https://www.wikidata.org/wiki/Q6783436","display_name":"Masking (illustration)","level":2,"score":0.25110000371932983}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2603.04050","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2603.04050","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.04050","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2603.04050","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"In":[0],"this":[1,155],"work,":[2],"we":[3],"propose":[4],"HE-VPR,":[5],"a":[6,29,56,88,134],"visual":[7],"place":[8,22],"recognition":[9],"(VPR)":[10],"framework":[11],"that":[12,108,131],"incorporates":[13],"height":[14,19,47,58],"estimation.":[15],"Our":[16],"system":[17],"decouples":[18],"inference":[20],"from":[21,55],"recognition,":[23],"allowing":[24],"both":[25],"modules":[26],"to":[27,92,112,126],"share":[28],"frozen":[30],"DINOv2":[31],"backbone.":[32],"Two":[33],"lightweight":[34],"bypass":[35],"adapter":[36],"branches":[37],"are":[38],"integrated":[39],"into":[40],"our":[41],"system.":[42],"The":[43,70],"first":[44],"estimates":[45],"the":[46,50,61,66,79,83,95,150],"partition":[48],"of":[49,82],"query":[51],"image":[52],"via":[53],"retrieval":[54],"compact":[57],"database,":[59],"and":[60,76,120,136,152],"second":[62],"performs":[63],"VPR":[64],"within":[65],"corresponding":[67],"height-specific":[68],"sub-database.":[69],"adaptation":[71],"design":[72],"reduces":[73,121],"training":[74],"cost":[75],"significantly":[77],"decreases":[78],"search":[80],"space":[81],"database.":[84],"We":[85],"also":[86],"adopt":[87],"center-weighted":[89],"masking":[90],"strategy":[91],"further":[93],"enhance":[94],"robustness":[96],"against":[97],"scale":[98],"differences.":[99],"Experiments":[100],"on":[101,160],"two":[102],"self-collected":[103],"challenging":[104],"multi-altitude":[105],"datasets":[106,153],"demonstrate":[107],"HE-VPR":[109,132],"achieves":[110],"up":[111,125],"6.1\\%":[113],"Recall@1":[114],"improvement":[115],"over":[116],"state-of-the-art":[117],"ViT-based":[118],"baselines":[119],"memory":[122],"usage":[123],"by":[124],"90\\%.":[127],"These":[128],"results":[129],"indicate":[130],"offers":[133],"scalable":[135],"efficient":[137],"solution":[138],"for":[139,154],"height-aware":[140],"aerial":[141],"VPR,":[142],"enabling":[143],"practical":[144],"deployment":[145],"in":[146],"GNSS-denied":[147],"environments.":[148],"All":[149],"code":[151],"work":[156],"have":[157],"been":[158],"released":[159],"https://github.com/hmf21/HE-VPR.":[161]},"counts_by_year":[],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2026-03-06T00:00:00"}
