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PiLoT v2: Pixel-to-Orthogonal Map Alignment for Free-view UAV Geo-localization
Xinyi Liu, Xiaoya Cheng, Rouwan Wu +4
Real-time, drift-free UAV geo-localization is essential for autonomous missions in GNSS-denied environments. The pioneering system, PiLoT, achieves high precision via Neural Pixel-…
AirZoo: A Unified Large-Scale Dataset for Grounding Aerial Geometric 3D Vision
Xiaoya Cheng, Rouwan Wu, Xinyi Liu +6
Despite the rapid progress in data-driven 3D vision, aerial geometric 3D vision remains a formidable challenge due to the severe scarcity of large-scale, high-fidelity training dat…
PiLoT: Neural Pixel-to-3D Registration for UAV-based Ego and Target Geo-localization
Xiaoya Cheng, Long Wang, Yan Liu +5
We present PiLoT, a unified framework that tackles UAV-based ego and target geo-localization. Conventional approaches rely on decoupled pipelines that fuse GNSS and Visual-Inertial…
Incremental Multiview Point Cloud Registration
Xiaoya Cheng, Yu Liu, Maojun Zhang +1
In this paper, we present a novel approach for multiview point cloud registration. Different from previous researches that typically employ a global scheme for multiview registrati…
UAVD4L: A Large-Scale Dataset for UAV 6-DoF Localization
Rouwan Wu, Xiaoya Cheng, Juelin Zhu +3
Despite significant progress in global localization of Unmanned Aerial Vehicles (UAVs) in GPS-denied environments, existing methods remain constrained by the availability of datase…