相关论文: Beyond Cross-view Image Retrieval: Highly Accurate…
Existing spatial localization techniques for autonomous vehicles mostly use a pre-built 3D-HD map, often constructed using a survey-grade 3D mapping vehicle, which is not only expensive but also laborious. This paper shows that by using an…
This paper proposes a fine-grained self-localization method for outdoor robotics that utilizes a flexible number of onboard cameras and readily accessible satellite images. The proposed method addresses limitations in existing cross-view…
Image retrieval-based cross-view localization methods often lead to very coarse camera pose estimation, due to the limited sampling density of the database satellite images. In this paper, we propose a method to increase the accuracy of a…
We propose a method for accurately localizing ground vehicles with the aid of satellite imagery. Our approach takes a ground image as input, and outputs the location from which it was taken on a georeferenced satellite image. We perform…
This paper tackles the problem of Cross-view Video-based camera Localization (CVL). The task is to localize a query camera by leveraging information from its past observations, i.e., a continuous sequence of images observed at previous time…
We propose a vision-based method that localizes a ground vehicle using publicly available satellite imagery as the only prior knowledge of the environment. Our approach takes as input a sequence of ground-level images acquired by the…
This work addresses visual cross-view metric localization for outdoor robotics. Given a ground-level color image and a satellite patch that contains the local surroundings, the task is to identify the location of the ground camera within…
Cross-view geo-localization is the problem of estimating the position and orientation (latitude, longitude and azimuth angle) of a camera at ground level given a large-scale database of geo-tagged aerial (e.g., satellite) images. Existing…
Cross-view matching refers to the problem of finding the closest match for a given query ground view image to one from a database of aerial images. If the aerial images are geotagged, then the closest matching aerial image can be used to…
The problem of localization on a geo-referenced satellite map given a query ground view image is useful yet remains challenging due to the drastic change in viewpoint. To this end, in this paper we work on the extension of our earlier work…
This paper addresses the problem of cross-view image geo-localization, where the geographic location of a ground-level street-view query image is estimated by matching it against a large scale aerial map (e.g., a high-resolution satellite…
In this paper, we introduce a novel approach to fine-grained cross-view geo-localization. Our method aligns a warped ground image with a corresponding GPS-tagged satellite image covering the same area using homography estimation. We first…
This paper addresses the problem of estimating the 3-DoF camera pose for a ground-level image with respect to a satellite image that encompasses the local surroundings. We propose a novel end-to-end approach that leverages the learning of…
Street-view imagery provides us with novel experiences to explore different places remotely. Carefully calibrated street-view images (e.g. Google Street View) can be used for different downstream tasks, e.g. navigation, map features…
The ground-to-satellite image matching/retrieval was initially proposed for city-scale ground camera localization. This work addresses the problem of improving camera pose accuracy by ground-to-satellite image matching after a coarse…
Cross-view localization and synthesis are two fundamental tasks in cross-view visual understanding, which deals with cross-view datasets: overhead (satellite or aerial) and ground-level imagery. These tasks have gained increasing attention…
Robust and accurate localization is an essential component for robotic navigation and autonomous driving. The use of cameras for localization with high definition map (HD Map) provides an affordable localization sensor set. Existing methods…
We address the problem of ground-to-satellite image geo-localization, that is, estimating the camera latitude, longitude and orientation (azimuth angle) by matching a query image captured at the ground level against a large-scale database…
Accurate and reliable localization is a fundamental requirement for autonomous vehicles to use map information in higher-level tasks such as navigation or planning. In this paper, we present a novel approach to vehicle localization in dense…
This paper introduces a visual-based localization method for autonomous vehicles (AVs) that operate in the absence of any complicated hardware system but a single camera. Visual localization refers to techniques that aim to find the…