Marker-Constrained Pose-Graph Correction for Cross-Platform Georeferencing in GNSS-Denied Environments

• URL: http://arxiv.org/abs/2608.16281v1
• Date: Mon, 17 Aug 2026 08:52:54 GMT
• Title: Marker-Constrained Pose-Graph Correction for Cross-Platform Georeferencing in GNSS-Denied Environments
• Abstract summary: This paper presents a framework using camouflage-matched fiducial markers fabricated from Cholesteric Spherical Reflectors (CSRs) as pre-surveyed visual anchors.<n>The anchors georeference both a lightweight odometry trajectory and a dense RTAB-Map reconstruction, allowing their outputs to be expressed in a common LUREF frame.<n>We evaluate it using two handheld acquisition sessions with ground-level and elevated motion profiles emulating UGV and UAV operation.
• Score: 0.20391237204597365
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Autonomous operation in GNSS-denied environments requires heterogeneous mapping pipelines to maintain a consistent spatial reference. This paper presents a framework using camouflage-matched fiducial markers fabricated from Cholesteric Spherical Reflectors (CSRs) as pre-surveyed visual anchors. The anchors georeference both a lightweight LiDAR-odometry trajectory and a dense RTAB-Map reconstruction, allowing their outputs to be expressed in a common LUREF frame (geodetic coordinate reference system used in Luxembourg) without requiring GNSS measurements during operation. The method combines coarse similarity alignment with marker-constrained pose-graph optimization. We evaluate it using two handheld acquisition sessions with ground-level and elevated motion profiles emulating UGV and UAV operation. A single iMarker was relocated among six surveyed positions, with the first position revisited to quantify drift correction. Marker-anchor correction reduced revisit inconsistency by 97.9% and 99.1% for the UAV- and UGV-emulating sessions, respectively, and improved held-out anchor prediction compared with one-time alignment. Separately georeferenced dense reconstructions achieved a median cross-session nearest-neighbour distance of 58 cm without explicit cross-session registration. Marker processing operated in real time, while trajectory correction required less than 0.25 s per session. These results demonstrate a proof of concept for georeferencing lightweight odometry and dense reconstructions using visually unobtrusive, pre-surveyed anchors during GNSS-denied operation.

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