2026
HE-VPR: Height Estimation Enabled Aerial Visual Place Recognition against Scale Variance
ICRA 2026poster
In this work, we propose HE-VPR, a visual place recognition (VPR) framework that incorporates height estimation. Our system decouples height inference from place recognition, allowing both modules to share a frozen DINOv2 backbone. Two lightweight bypass adapter branches are integrated into our syst…