# Zero-Parameter Geometric Gating for Temporally Stable Low-Altitude UAV Video Semantic Segmentation

arXiv: https://arxiv.org/abs/2606.09162 · HTML: https://mlsanity.com/paper/2606.09162/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- Builds on 17 of its 21 references that are in the map.
- First posted on arXiv 8 Jun 2026.

## Builds on (most cited first, 17 of 17)

- [SegFormer: Simple and Efficient Design for Semantic Segmentation with Transformers](https://mlsanity.com/paper/2105.15203/) (2021)
- [RAFT: Recurrent All-Pairs Field Transforms for Optical Flow](https://mlsanity.com/paper/2003.12039/) (2020)
- [Unified Perceptual Parsing for Scene Understanding](https://mlsanity.com/paper/1807.10221/) (2018)
- [LightGlue: Local Feature Matching at Light Speed](https://mlsanity.com/paper/2306.13643/) (2023)
- [DISK: Learning local features with policy gradient](https://mlsanity.com/paper/2006.13566/) (2020)
- [Hiera: A Hierarchical Vision Transformer without the Bells-and-Whistles](https://mlsanity.com/paper/2306.00989/) (2023)
- [Deep Feature Flow for Video Recognition](https://mlsanity.com/paper/1611.07715/) (2016)
- [A Survey on Deep Learning Technique for Video Segmentation](https://mlsanity.com/paper/2107.01153/) (2021)
- [Accel: A Corrective Fusion Network for Efficient Semantic Segmentation on Video](https://mlsanity.com/paper/1807.06667/) (2018)
- [Temporally Distributed Networks for Fast Video Semantic Segmentation](https://mlsanity.com/paper/2004.01800/) (2020)
- [Semantic Video CNNs through Representation Warping](https://mlsanity.com/paper/1708.03088/) (2017)
- [Mask Propagation for Efficient Video Semantic Segmentation](https://mlsanity.com/paper/2310.18954/) (2023)
- [Learning Local and Global Temporal Contexts for Video Semantic Segmentation](https://mlsanity.com/paper/2204.03330/) (2022)
- [Optical Flow with Semantic Segmentation and Localized Layers](https://mlsanity.com/paper/1603.03911/) (2016)
- [Agent-Based Anti-Jamming Techniques for UAV Communications in Adversarial Environments: A Comprehensive Survey](https://mlsanity.com/paper/2508.11687/) (2025)
- [Towards Automatic Annotation for Semantic Segmentation in Drone Videos](https://mlsanity.com/paper/1910.10026/) (2019)
- [High Temporal Consistency through Semantic Similarity Propagation in Semi-Supervised Video Semantic Segmentation for Autonomous Flight](https://mlsanity.com/paper/2503.15676/) (2025)

## Built on by (most cited first, 4 of 4)

- [LabGuard: Grounding Natural-Language Laboratory Rules into Runtime Guards for Embodied Laboratory Agents](https://mlsanity.com/paper/2606.31045/) (2026)
- [Parametric Memory Decoding for Zero-Shot Routing in LoRA-Based External Parametric Memory](https://mlsanity.com/paper/2607.04118/) (2026)
- [GAAT: Geometry-Aware Alignment Transformer for Multimodal UAV Perception](https://mlsanity.com/paper/2608.27971/) (2026)
- [EgoSIS: From Factorized Visual Ego-Transitions to Motion-Canonical Spatial Evidence for UAV Reasoning](https://mlsanity.com/paper/2609.08938/) (2026)

## Abstract (arXiv)

Video semantic segmentation for low-altitude UAVs requires temporal consistency, yet dense optical flow introduces spatially structured noise in the planar regions that dominate aerial imagery. We propose a zero-parameter geometric gate that uses RANSAC homography inlier ratios on a 16×16 spatial grid to route each region to either homography or optical flow warp before fusion via Semantic Similarity Propagation. The gate requires no learned parameters -- only a median-threshold binary decision on RANSAC statistics -- adding only 211K trainable parameters (the SSP fusion layer) to a frozen backbone. On synthetic UAVid, the method achieves +4.24--4.91% mIoU improvement over base models across two architectures (SegFormer-b2 and Hiera-S+UPerNet). Mechanism diagnostics reveal that flow residuals in planar regions are spatially autocorrelated (Moran's I = 0.32, p < 0.001), predict boundary instability (Spearman ρ = 0.66), and that rigidification recovers temporal consistency from 62% to 92% (+29.5pp) in homography-valid regions.