CLARA: Cross-View Landmark Acquisition, Retrieval, and Anchoring as an Edge-Deployed Visual Trigger for Loosely Coupled UAV Navigation
Research Square
Editorial summary
CLARA uses a compact bank of visual landmarks to provide occasional corrections to inertial navigation. Its matching policy limits false visual updates, which can otherwise worsen position estimates. Tests replay one urban route and measure landmark recovery, false accepts and memory use. This preprint reports a feasibility study on that route.
Bibliographic reference
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Zakhar Ostrovskyi, Oleksander Barmak, Pavlo Radiuk, Iurii Krak. "CLARA: Cross-View Landmark Acquisition, Retrieval, and Anchoring as an Edge-Deployed Visual Trigger for Loosely Coupled UAV Navigation". Research Square, 2026. https://doi.org/10.21203/rs.3.rs-9958865/v1
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