相关论文: TransLocNet: Cross-Modal Attention for Aerial-Grou…

Visual localization plays an important role for intelligent robots and autonomous driving, especially when the accuracy of GNSS is unreliable. Recently, camera localization in LiDAR maps has attracted more and more attention for its low…

Recent advances in image understanding have enabled methods that leverage large language models for multimodal reasoning in remote sensing. However, existing approaches still struggle to steer models to the user-relevant regions when only…

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…

We aim to localize objects in images using image-level supervision only. Previous approaches to this problem mainly focus on discriminative object regions and often fail to locate precise object boundaries. We address this problem by…

Multi-modal cross-view place recognition remains a fundamental challenge in computer vision and robotics due to the severe viewpoint, modality, and spatial-structure discrepancies between ground observations and aerial references. To…

Image and Point Clouds provide different information for robots. Finding the correspondences between data from different sensors is crucial for various tasks such as localization, mapping, and navigation. Learning-based descriptors have…

Global visual localization in LiDAR-maps, crucial for autonomous driving applications, remains largely unexplored due to the challenging issue of bridging the cross-modal heterogeneity gap. Popular multi-modal learning approach Contrastive…

It is of interest to localize a ground-based LiDAR point cloud on remote sensing imagery. In this work, we tackle a subtask of this problem, i.e. to map a digital elevation model (DEM) rasterized from aerial LiDAR point cloud on the aerial…

Multimodal contrastive learning is a methodology for linking different data modalities; the canonical example is linking image and text data. The methodology is typically framed as the identification of a set of encoders, one for each…

Multi-modal 3D object understanding has gained significant attention, yet current approaches often assume complete data availability and rigid alignment across all modalities. We present CrossOver, a novel framework for cross-modal 3D scene…

LiDAR-based place recognition is one of the key components of SLAM and global localization in autonomous vehicles and robotics applications. With the success of DL approaches in learning useful information from 3D LiDARs, place recognition…

We present a novel monocular localization framework by jointly training deep learning-based depth prediction and Bayesian filtering-based pose reasoning. The proposed cross-modal framework significantly outperforms deep learning-only…

Ground-to-aerial geolocalization refers to localizing a ground-level query image by matching it to a reference database of geo-tagged aerial imagery. This is very challenging due to the huge perspective differences in visual appearances and…

Localization has been a challenging task for autonomous navigation. A loop detection algorithm must overcome environmental changes for the place recognition and re-localization of robots. Therefore, deep learning has been extensively…

Retrieving relevant multimedia content is one of the main problems in a world that is increasingly data-driven. With the proliferation of drones, high quality aerial footage is now available to a wide audience for the first time.…

We present AGL-NET, a novel learning-based method for global localization using LiDAR point clouds and satellite maps. AGL-NET tackles two critical challenges: bridging the representation gap between image and points modalities for robust…

Place recognition is a fundamental task for robotic application, allowing robots to perform loop closure detection within simultaneous localization and mapping (SLAM), and achieve relocalization on prior maps. Current range image-based…

In this paper, we propose a novel multimodal framework, Multimodal Language-Guided Network (MMLGNet), to align heterogeneous remote sensing modalities like Hyperspectral Imaging (HSI) and LiDAR with natural language semantics using…

Online localization of road intersections is beneficial for autonomous vehicle localization, mapping and motion planning. Intersections offer strong landmarks for correcting vehicle pose estimation, anchoring new sensor data in up-to-date…

Despite advances in object detection, aerial imagery remains a challenging domain, as models often fail to generalize across variations in spatial resolution, scene composition, and semantic label coverage. Differences in geographic…