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As LLM/VLM-based planners are increasingly adopted as high-level agents for embodied systems, their ability to reason about physical dimensions becomes safety-critical -- yet our experiments show that five state-of-the-art VLMs suffer from \\emph{spatial scale hallucinations}, with median area estimation errors exceeding 50\\%. We propose VehAnchor, a lightweight, deterministic \\emph{Geometric Perception Skill} designed as a callable tool that any LLM-based agent can invoke to recover Ground Sample Distance (GSD) from ubiquitous environmental anchors: small vehicles detected via oriented bounding boxes, whose modal pixel length is robustly estimated through kernel density estimation and converted","title":"VehAnchor: Metadata-Free Metric Scale Recovery from Vehicle Cues in Aerial Imagery","url":"https://arxiv.org/abs/2603.04277","vendor":"arxiv_cs_ai"},"summary":"arXiv:2603.04277v2 Announce Type: replace-cross \nAbstract: Autonomous aerial robots operating in GPS-denied or communication-degraded environments frequently lose access to camera metadata and telemetry, leaving onboard perception systems unable to recover the absolute metric scale of the scene. As LLM/VLM-based planners are increasingly adopted as high-level agents for embodied systems, their ability to reason about physical dimensions becomes safety-critical -- yet our experiments show that five state-of-the-art VLMs suffer from \\emph{spatial scale hallucinations}, with median area estimation errors exceeding 50\\%. We propose VehAnchor, a lightweight, deterministic \\emph{Geometric Perception Skill} designed as a callable tool that any LLM-based agent can invoke to recover Ground Sample Distance (GSD) from ubiquitous environmental anchors: small vehicles detected via oriented bounding boxes, whose modal pixel length is robustly estimated through kernel density estimation and converted","title":"VehAnchor: Metadata-Free Metric Scale Recovery from Vehicle Cues in Aerial Imagery","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-07-14T04:43:37Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2603.04277"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:f39014ce6dd49cb56cc35b727213fb0f193b788c3c687988b5fa1e6fc0459d42cfa87adac723b4c44629f6e01057889391a5ee642b4f71054cc4e79a9ccd1f00","signer":"crovia.substrate","subject":{"observed_at":"2026-07-14T04:43:37Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2603.04277"},"tsa":{"authority":"crovia.substrate.bootstrap","rfc3161_token":"{\"kind\":\"crovia.bootstrap.tsa\",\"source_jsonl\":\"/opt/crovia/spider/data/news/vendor_press_v1.jsonl\",\"source_seal_merkle_root\":\"spider_vendor_press_v1\",\"upgrade_path\":\"Sessione H \\u2014 OpenTimestamps weekly anchor\"}"},"zk_mode":"clear","zk_proof":null},"ledger":{"leaf_hash":"a0eafa0463281bf382a2df266bfb90b686414a69f918814ddae41f09c3454e44","leaf_index":313207,"ledger_path":"/opt/crovia/substrate/axiom_ledger.jsonl"},"merkle_proof":{"hash_alg":"sha256","leaf_prefix":"0x00","node_prefix":"0x01","odd_leaf_rule":"duplicate_last","path":[{"sibling":"42f0f176bb758234a9959c2bed2927386ba39aa2788b646da7627571b4de5c88","side":"left"},{"sibling":"a331cc1e440fad66f44a577959a4b3080910a565567d4a8fad90cc23063873a8","side":"left"},{"sibling":"7a0d1a921badf78048190b12a53756f9d8f340d818c44b56a0271cc163b54392","side":"left"},{"sibling":"6df8a1ab397a38d20a0efc3deccb1f001a5e94695109d9016f8ca075cf02a6cb","side":"right"},{"sibling":"726b60fb4901f33f6946a6cab2109cbc7a617498f1b5231e6d2d25b0843203a3","side":"left"},{"sibling":"8aada29eba3e9c831319c79336b0d83c3c9d322066309633aa9f715da7e5ca28","side":"left"},{"sibling":"242ec9ba910918e34f549c2e0edeb1bb80f79a3991e32c51c92f262711ff9ed9","side":"left"},{"sibling":"edf133a890c50dc04a7d212f979f1424434d765ec9a191894fda402b340d9450","side":"right"},{"sibling":"ae8fbfdec46ce02d0a92359c6a034f0439394d13e731da90290f5ca7192e6da4","side":"left"},{"sibling":"8393dc03644000353c5d503b6ec261c022cd2aa85a649223916153bc8af2dc75","side":"left"},{"sibling":"1627ce6908965f2e5fbc7c16bc8e247867478c587014561d0de1359dc2dc0afc","side":"left"},{"sibling":"74e1ba9fd48bdd0f52777dd5b56c10706e73f42629013748eca13ef113cd59db","side":"right"},{"sibling":"682fd39539db5bce908d0ab6f180374728fed6b34a9a8c87c7b4eb5a726e30b8","side":"right"},{"sibling":"184927f71d667ac0c6ebeadb33394626973738b9107c6dc3c0c4949b44acf295","side":"right"},{"sibling":"f302542c38ba7c3aab7c9280dd60259ecec777dca6e6f71b6f0729b0b8791b72","side":"left"},{"sibling":"d8b9143917b539c543cf4448cec00131f8b807bd8004979c54ebe09798748c66","side":"left"},{"sibling":"c4c189d79669979b59d9aa976ee249c54a7e065b4a05bf49463459cc7f37428e","side":"right"},{"sibling":"19475e206bdf2698769a286db2c97c4d3f089741319f9b29a139038c6e511975","side":"right"},{"sibling":"1cecb7f447febd025aac272837c80de218aecc6485d2395a509b2a1f1b9c746e","side":"left"}]},"schema":"crovia.axiom_proof.v1","seal":{"first_collector_run_id":"","first_receipt_hash":"","jsonl_path":"/opt/crovia/substrate/axiom_ledger.jsonl","key_id":"430895f101d38164","last_collector_run_id":"","last_receipt_hash":"","leaf_count":313381,"merkle_root":"5f7d48580373d0ab0bc6bdf34f26de442f9a86d130946f7ee45addd1a55cb9f4","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260714T053701Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-07-14T05:38:23Z","sig_algorithm":"ed25519","signature":"97364224142ed1b2a8925fed1bfba2e0a8a6a15f8ca0999b934846ad83584a78c7f0f5cd09dbc1c938b35383fcc5c8fa4b723118e30916628879d1c5fd3a9908","signer_version":"1.1.0"},"trust_root":{"key_id":"430895f101d38164","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","signature_algorithm":"ed25519","url":"/registry/canon/TRUST_ROOT.md"},"verifier":{"spec":"/registry/canon/AXIOM_RECEIPT_v1.md","url":"/v/axm_a9b1e39d1a41889b6256296a57d666061609ec2fc7bbe3566167cd22aa6ba409"}}