相关论文: VICI: VLM-Instructed Cross-view Image-localisation

Vision--language models (VLMs) achieve strong performance on many multimodal benchmarks but remain brittle on spatial reasoning tasks that require aligning abstract overhead representations with egocentric views. We introduce m2sv, a…

Relocalization is the basis of map-based localization algorithms. Camera and LiDAR map-based methods are pervasive since their robustness under different scenarios. Generally, mapping and localization using the same sensor have better…

Scene understanding enables intelligent agents to interpret and comprehend their environment. While existing large vision-language models (LVLMs) for scene understanding have primarily focused on indoor household tasks, they face two…

Accurate and robust visual localization under a wide range of viewing condition variations including season and illumination changes, as well as weather and day-night variations, is the key component for many computer vision and robotics…

Simultaneous Localisation and Mapping (SLAM) is one of the fundamental problems in autonomous mobile robots where a robot needs to reconstruct a previously unseen environment while simultaneously localising itself with respect to the map.…

Cross-view video geo-localization (CVGL) aims to derive GPS trajectories from street-view videos by aligning them with aerial-view images. Despite their promising performance, current CVGL methods face significant challenges. These methods…

With the rapid growth of the low-altitude economy, UAVs have become crucial for measurement and tracking in patrol systems. However, in GNSS-denied areas, satellite-based localization methods are prone to failure. This paper presents a…

With the rapid development of mobile Internet and cloud computing technology, large-scale multimedia data, e.g., texts, images, audio and videos have been generated, collected, stored and shared. In this paper, we propose a novel query…

An open problem in robotics is that of using vision to identify a robot's own body and the world around it. Many models attempt to recover the traditional C-space parameters. Instead, we propose an alternative C-space by deriving…

Visual Place recognition is commonly addressed as an image retrieval problem. However, retrieval methods are impractical to scale to large datasets, densely sampled from city-wide maps, since their dimension impact negatively on the…

While numerous recent benchmarks focus on evaluating generic Vision-Language Models (VLMs), they do not effectively address the specific challenges of geospatial applications. Generic VLM benchmarks are not designed to handle the…

The advances in Vision-Language models (VLMs) offer exciting opportunities for robotic applications involving image geo-localization, the problem of identifying the geo-coordinates of a place based on visual data only. Recent research works…

This paper addresses the problem of weakly supervised cross-view localization, where the goal is to estimate the pose of a ground camera relative to a satellite image with noisy ground truth annotations. A common approach to bridge the…

Visual localization is the problem of estimating the position and orientation from which a given image (or a sequence of images) is taken in a known scene. It is an important part of a wide range of computer vision and robotics…

Image retrieval in realistic scenarios targets large dynamic datasets of unlabeled images. In these cases, training or fine-tuning a model every time new images are added to the database is neither efficient nor scalable. Convolutional…

Classifying geospatial imagery remains a major bottleneck for applications such as disaster response and land-use monitoring-particularly in regions where annotated data is scarce or unavailable. Existing tools (e.g., RS-CLIP) that claim…

Accurate localization in autonomous driving is critical for successful missions including environmental mapping and survivor searches. In visually challenging environments, including low-light conditions, overexposure, illumination changes,…

Cross-modal drone navigation remains a challenging task in robotics, requiring efficient retrieval of relevant images from large-scale databases based on natural language descriptions. The RoboSense 2025 Track 4 challenge addresses this…

Cross-view localization, the task of estimating a camera's 3-degrees-of-freedom (3-DoF) pose by aligning ground-level images with satellite images, is crucial for large-scale outdoor applications like autonomous navigation and augmented…

This work tackles the problem of geo-localization with a new paradigm using a large vision-language model (LVLM) augmented with human inference knowledge. A primary challenge here is the scarcity of data for training the LVLM - existing…