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Aerial imagery and its direct application to visual localization is an essential problem for many Robotics and Computer Vision tasks. While Global Navigation Satellite Systems (GNSS) are the standard default solution for solving the aerial…
The emerging drone aerial survey has the advantages of low cost, high efficiency, and flexible use. However, UAVs are often equipped with cheap POS systems and non-measurement cameras, and their flight attitudes are easily affected. How to…
Globally-consistent localization in urban environments is crucial for autonomous systems such as self-driving vehicles and drones, as well as assistive technologies for visually impaired people. Traditional Visual-Inertial Odometry (VIO)…
To address the scale mismatch caused by large altitude variations in UAV visual place recognition, we propose a monocular vision-only altitude-adaptive geo-localization framework. The method first estimates relative altitude from a single…
Despite the growing number of unmanned aerial vehicles (UAVs) and aerial videos, there is a paucity of studies focusing on the aesthetics of aerial videos that can provide valuable information for improving the aesthetic quality of aerial…
Cross-view geo-localization aims to estimate the GPS location of a query ground-view image by matching it to images from a reference database of geo-tagged aerial images. To address this challenging problem, recent approaches use panoramic…
Nowadays there is a growing research interest on the possibility of enriching small flying robots with autonomous sensing and online navigation capabilities. This will enable a large number of applications spanning from remote surveillance…
Localization is one of the most crucial tasks for Unmanned Aerial Vehicle systems (UAVs) directly impacting overall performance, which can be achieved with various sensors and applied to numerous tasks related to search and rescue…
The rapid advancements in unmanned aerial vehicles (UAVs) have unlocked numerous applications, including environmental monitoring, disaster response, and agricultural surveying. Enhancing the collective behavior of multiple decentralized…
Estimating the pose of an unmanned aerial vehicle (UAV) or drone is a challenging task. It is useful for many applications such as navigation, surveillance, tracking objects on the ground, and 3D reconstruction. In this work, we present a…
We propose an accurate and interpretable fine-grained cross-view localization method that estimates the 3 Degrees of Freedom (DoF) pose of a ground-level image by matching its local features with a reference aerial image. Unlike prior…
In this paper, we investigate the problem of UAV-aided user localization in wireless networks. Unlike the existing works, we do not assume perfect knowledge of the UAV location, hence we not only need to localize the users but also to track…
Understanding semantic scene segmentation of urban scenes captured from the Unmanned Aerial Vehicles (UAV) perspective plays a vital role in building a perception model for UAV. With the limitations of large-scale densely labeled data,…
Onboard sensors, such as cameras and thermal sensors, have emerged as effective alternatives to Global Positioning System (GPS) for geo-localization in Unmanned Aerial Vehicle (UAV) navigation. Since GPS can suffer from signal loss and…
Precise estimation of global orientation and location is critical to ensure a compelling outdoor Augmented Reality (AR) experience. We address the problem of geo-pose estimation by cross-view matching of query ground images to a…
The goal of cross-view image based geo-localization is to determine the location of a given street view image by matching it against a collection of geo-tagged satellite images. This task is notoriously challenging due to the drastic…
We consider the task of active geo-localization (AGL) in which an agent uses a sequence of visual cues observed during aerial navigation to find a target specified through multiple possible modalities. This could emulate a UAV involved in a…
Language-goal aerial navigation requires UAVs to localize targets in the complex outdoors, such as urban blocks based on textual instructions. The indoor methods are often hard to scale to urban scenes due to ambiguous objects, limited…
This paper considers the problem of ground user localization based on received signal strength (RSS) measurements obtained by an unmanned aerial vehicle (UAV). We treat UAV-user link channel model parameters and antenna radiation pattern of…
The visual entities in cross-view images exhibit drastic domain changes due to the difference in viewpoints each set of images is captured from. Existing state-of-the-art methods address the problem by learning view-invariant descriptors…