Chonghua Zhu

Landmark-aware visual localization for GNSS-denied UAV wind farm inspection via lifecycle binding and adaptive fusion

Abstract This paper proposes a lightweight landmark-aware visual localization framework intended as a backup localization subsystem for UAV inspection in GNSS-denied wind farms. The system utilizes wind turbine towers as natural semantic beacons and integrates YOLOv12s and BoT-SO...