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arXiv 2610.18564cs.CV

DSM辅助空中定位中的观测质量：基准测试与基于基准的不确定性校准

Observation Quality in DSM-Assisted Aerial Localization: A Benchmark and Base-Anchored Uncertainty Calibration

Aerospace Information Research Institute, Chinese Academy of Sciences（中国科学院空天信息研究院）；School of Electronic Engineering, Beijing University of Posts and Telecommunications（北京邮电大学电子工程学院）

Pengyu Yin, Junxiang Tan, Jie Pan, Mengqi Fu, Kun Cheng, Yifan Liu

备注：
15 pages, 7 figures, 7 tables; supplementary material integrated into the main text
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AI总结：

该研究针对DSM辅助空中定位定义五项基准任务，提出基于基准的不确定性校准方法，在两个查询集上降低了位置更新风险并提升了负对数似然，验证了该方法的有效性。

摘要：

空中地图匹配为导航提供位置观测，但仅位置误差无法决定观测的权重。我们定义了五项基准任务：位置可用性与一致性、分组误差结构、预测不确定性、受控更新以及时间累积。在数字表面模型（DSM）辅助定位的案例研究中，我们在该框架内评估了基于基准的不确定性校准方法。该方法结合了传播的图像与地图敏感性，以及紧凑配置子集相对于报告位置的二阶矩。报告位置保持不变，尺度通过独立位置参考拟合，无需局部地表高度真值。我们在校准数据所代表位置的两个保留查询集上评估了13种协方差模型。相对于恒定全矩阵基线，该方法在728个条件下将同位置归一化位置更新风险降低7.70%，在独立先验下的142个独立条件下降低5.46%，且包含所有定位失败案例。在主要数据集上，同位置负对数似然提升2.571 nat。这些结果表明，在已见过的位置上，基于参考的加权得到了改进。探索性基准质量与条件添加控制留下了配置分歧的增量更新益处未解决，导航益处与真实时间累积仍未测试。

英文摘要：

Aerial map matching provides position observations for navigation, but a position error alone does not determine how an observation should be weighted. We define five benchmark tasks: position availability and agreement, grouped error structure, predictive uncertainty, controlled updates, and temporal accumulation. A case study in digital-surface-model-assisted localization evaluates base-anchored uncertainty calibration within this framework. The method combines propagated image and map sensitivities with the second moment of a compact configuration subset relative to the reported position. The reported position remains unchanged, and scale is fitted using separate position references without local surface-height ground truth. Thirteen covariance models are evaluated on two held-out query sets from locations represented in the calibration data. Relative to a constant full-matrix baseline, the method reduces equal-location normalized position-update risk by 7.70% on 728 conditions and 5.46% on a separate 142 conditions under an independent prior, with all localization failures included. On the primary set, equal-location negative log likelihood improves by 2.571 nat. These results show improved reference-based weighting at seen locations. Exploratory base-quality and conditional-addition controls leave the incremental update benefit of configuration disagreement unresolved. Navigation benefit and real temporal accumulation remain untested.

机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。

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