{"id":"https://openalex.org/W7166150568","doi":"https://doi.org/10.48550/arxiv.2606.26928","title":"UAV-MapFusion: RTK-Aligned Uncertainty-Aware Coarse-to-Fine Multi-Session UAV Mapping","display_name":"UAV-MapFusion: RTK-Aligned Uncertainty-Aware Coarse-to-Fine Multi-Session UAV Mapping","publication_year":2026,"publication_date":"2026-06-25","ids":{"openalex":"https://openalex.org/W7166150568","doi":"https://doi.org/10.48550/arxiv.2606.26928"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.26928","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.26928","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":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.26928","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5139413421","display_name":"Feng Pan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pan, Feng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084344419","display_name":"Chunran Zheng","orcid":"https://orcid.org/0000-0001-5974-3771"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zheng, Chunran","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139416806","display_name":"Bing Xue","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xue, Bing","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139416457","display_name":"Yukang Cui","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cui, Yukang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138942465","display_name":"Jiayu Wen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wen, Jiayu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139448950","display_name":"Zhiyu Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Zhiyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5139410318","display_name":"Wei Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Wei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"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":0.6984999775886536,"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":0.6984999775886536,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.12890000641345978,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.04989999905228615,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6079000234603882},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.49309998750686646},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4074999988079071},{"id":"https://openalex.org/keywords/factor-graph","display_name":"Factor graph","score":0.39879998564720154},{"id":"https://openalex.org/keywords/dynamic-time-warping","display_name":"Dynamic time warping","score":0.3970000147819519},{"id":"https://openalex.org/keywords/subpixel-rendering","display_name":"Subpixel rendering","score":0.35100001096725464},{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.33980000019073486},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.33970001339912415}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7182000279426575},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6322000026702881},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6212000250816345},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6079000234603882},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.49309998750686646},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4074999988079071},{"id":"https://openalex.org/C159246509","wikidata":"https://www.wikidata.org/wiki/Q5428725","display_name":"Factor graph","level":3,"score":0.39879998564720154},{"id":"https://openalex.org/C88516994","wikidata":"https://www.wikidata.org/wiki/Q1268863","display_name":"Dynamic time warping","level":2,"score":0.3970000147819519},{"id":"https://openalex.org/C68516990","wikidata":"https://www.wikidata.org/wiki/Q452912","display_name":"Subpixel rendering","level":3,"score":0.35100001096725464},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.33980000019073486},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.33970001339912415},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.3278999924659729},{"id":"https://openalex.org/C157202957","wikidata":"https://www.wikidata.org/wiki/Q1659609","display_name":"Image warping","level":2,"score":0.3181999921798706},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.31139999628067017},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.30309998989105225},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.2906000018119812},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.27880001068115234},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.27709999680519104},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.2721000015735626},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.25290000438690186},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2506999969482422}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.26928","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.26928","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":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.26928","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.26928","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":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Large-scale":[0],"point":[1,74],"cloud":[2,75],"maps":[3],"are":[4,112,123],"essential":[5],"for":[6,17],"robotics":[7],"and":[8,27,62,78,98,119,133,146,164,174,181],"spatial":[9],"intelligence":[10],"tasks.":[11],"UAVs":[12],"provide":[13],"an":[14,71,104],"efficient":[15],"means":[16],"large-scale":[18,32],"map":[19,42,76,91],"acquisition;":[20],"however,":[21],"due":[22],"to":[23,57],"limited":[24],"flight":[25,37],"endurance":[26],"onboard":[28],"storage,":[29],"mapping":[30,48],"a":[31,35,95,139],"scene":[33,96],"within":[34],"single":[36],"remains":[38],"difficult.":[39],"Existing":[40],"multi-session":[41,73,90],"merging":[43,77,92],"methods":[44],"can":[45],"extend":[46],"the":[47,162,167,177],"range,":[49],"yet":[50],"in":[51,176],"UAV":[52],"scenarios":[53],"they":[54],"still":[55],"struggle":[56],"simultaneously":[58],"suppress":[59],"long-range":[60],"drift":[61],"preserve":[63],"local":[64,147],"geometric":[65,148],"accuracy.":[66],"To":[67,170],"address":[68],"this":[69,137],"issue,":[70],"uncertainty-aware":[72,141],"coarse-to-fine":[79],"optimization":[80],"system":[81],"is":[82,144,150],"proposed.":[83],"The":[84],"proposed":[85,168],"method":[86],"first":[87],"performs":[88],"initial":[89],"based":[93],"on":[94,158],"graph,":[97],"then":[99],"incorporates":[100],"RTK":[101,105,121],"observations":[102],"through":[103,153],"spatiotemporal":[106],"alignment":[107],"module,":[108],"where":[109],"temporal":[110],"offsets":[111],"estimated":[113],"using":[114,125],"Dynamic":[115],"Time":[116],"Warping":[117],"(DTW),":[118],"continuous":[120],"constraints":[122],"recovered":[124],"Multi-Output":[126],"Gaussian":[127],"Processes":[128],"(MOGP)":[129],"under":[130],"incomplete":[131],"sampling":[132],"frame":[134],"dropouts.":[135],"On":[136],"basis,":[138],"unified":[140],"factor":[142],"graph":[143],"constructed,":[145],"accuracy":[149],"further":[151,172],"improved":[152],"iterative":[154],"plane-factor":[155],"refinement.":[156],"Experiments":[157],"real-world":[159],"datasets":[160],"validate":[161],"effectiveness":[163],"robustness":[165],"of":[166],"method.":[169],"facilitate":[171],"research":[173],"development":[175],"community,":[178],"our":[179],"code":[180],"dataset":[182],"will":[183],"be":[184],"publicly":[185],"released.":[186]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-27T00:00:00"}