相关论文: Satellite Image Based Cross-view Localization for …

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…

We present a novel method for visual mapping and localization for autonomous vehicles, by extracting, modeling, and optimizing semantic road elements. Specifically, our method integrates cascaded deep models to detect standardized road…

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…

An accurate understanding of a self-driving vehicle's surrounding environment is crucial for its navigation system. To enhance the effectiveness of existing algorithms and facilitate further research, it is essential to provide…

We propose and demonstrate a fast, robust method for using satellite images to localize an Unmanned Aerial Vehicle (UAV). Previous work using satellite images has large storage and computation costs and is unable to run in real time. In…

Accurate vehicle localization is a crucial step towards building effective Vehicle-to-Vehicle networks and automotive applications. Yet standard grade GPS data, such as that provided by mobile phones, is often noisy and exhibits significant…

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…

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…

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…

When a vehicle observes another one, the two vehicles' poses are correlated by this spatial relative observation, which can be used in cooperative localization for further increasing localization accuracy and precision. To use spatial…

Accurate global localization is critical for autonomous driving and robotics, but GNSS-based approaches often degrade due to occlusion and multipath effects. As an emerging alternative, cross-view pose estimation predicts the 3-DoF camera…

In this paper, we present a framework for performing collaborative localization for groups of micro aerial vehicles (MAV) that use vision based sensing. The vehicles are each assumed to be equipped with a forward-facing monocular camera,…

The capabilities of autonomous flight with unmanned aerial vehicles (UAVs) have significantly increased in recent times. However, basic problems such as fast and robust geo-localization in GPS-denied environments still remain unsolved.…

For autonomous navigation, accurate localization with respect to a map is needed. In urban environments, infrastructure such as buildings or bridges cause major difficulties to Global Navigation Satellite Systems (GNSS) and, despite…

Cross-view geolocalization, a supplement or replacement for GPS, localizes an agent within a search area by matching images taken from a ground-view camera to overhead images taken from satellites or aircraft. Although the viewpoint…

Most existing cross-view object geo-localization approaches adopt anchor-based paradigm. Although effective, such methods are inherently constrained by predefined anchors. To eliminate this dependency, we first propose an anchor-free…

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 self-localization capability is a crucial component for Unmanned Ground Vehicles (UGV) in farming applications. Approaches based solely on visual cues or on low-cost GPS are easily prone to fail in such scenarios. In this paper, we…

Cross-view localization classically asks: where does this ground image lie on the satellite tile? Existing methods are typically limited to 3-DoF estimates -- an $(x,y)$ position and a yaw angle -- because nadir satellite imagery provides…