ArXiv

PACE: Polar Axis-Conditioned Estimation for PairUAV Relative Localization

2026-07-19 · 14:20 UTC ·Ze Rong ·1 min read
Authors
Ze Rong
Categories
cs.CV
arXiv
https://arxiv.org/abs/2607.17268v1
PDF
https://arxiv.org/pdf/2607.17268v1

Brief

PACE (Polar Axis-Conditioned Estimation) targets PairUAV relative localization, mapping two UAV images to a polar navigation command by keeping a shared Reloc3r-style pair representation but separating axis readouts. The method finds heading benefits from mid/late relational evidence while range needs a late metric path; probes reveal 80.8% checkpoint disagreement and a high-error tail in range. Hidden-test predictors score ~0.00246–0.00251, and a deterministic packaging achieves 0.001874. Summary based on the paper abstract (full text not provided).

Why it matters

PACE (Polar Axis-Conditioned Estimation) retains a shared Reloc3r-style pair representation but uses axis-specific readout interfaces: heading leverages mid/late relational evidence while range uses a direct late metric path.

Key details

  • Controlled readout probes show the two polar axes favor different decoder-depth combinations; their best checkpoints disagree on 80.8% of a validation trajectory and range errors exhibit a distinct high-error tail.
  • On the official hidden test the strongest released raw predictor scores 0.002460 and the complementary PAAER predictor scores 0.002514 (with slightly lower angle error); deterministic challenge packaging yields a final score of 0.001874. Code and checkpoints are available at the authors' GitHub.
Source evidence

Abstract

PairUAV relative localization maps two UAV images to a polar navigation command. Although heading and range share the same pairwise pose context, treating them as homogeneous coordinates forces both outputs to use the same decoder evidence and optimization state. Controlled readout probes reveal a different structure: the two axes favor different decoder-depth combinations, their best checkpoints disagree on 80.8% of a validation trajectory, and range errors exhibit a distinct high-error tail. We introduce method, Polar Axis-Conditioned Estimation, which retains a shared Reloc3r-style pair representation while assigning axis-specific readout interfaces. Heading uses mid/late relational evidence, whereas range remains attached to a direct late metric path. On the official hidden test, the strongest released raw predictor scores 0.002460; the complementary PAAER predictor scores 0.002514 with a slightly lower angle error. Deterministic challenge packaging, reported separately from learned estimation, yields the final score of 0.001874. Code, checkpoints, predictions, and reconstruction tools are available at https://github.com/zerong7777-boop/PairUAV-PACE.