A computer-implemented method, system, and computer program product are provided for a stabilization system utilizing pose estimation in an aerial drone. The method includes receiving, by a pose estimation system, a plurality of images from one or more cameras. The method also includes predicting, by the pose estimation system, a pose from the score map and a combined feature map, the combined feature map correlated from a pair of the plurality of images. The method additionally includes moving, by a propulsion system, the aerial drone responsive to the pose.