5 papers
Altitude-Adaptive Vision-Only Geo-Localization for UAVs in GPS-Denied Environments
Xingyu Shao, Mengfan He, Chunyu Li +2
Matching downward-looking unmanned aerial vehicle (UAV) images to georeferenced satellite or aerial map tiles supports local earth observation, map-based interpretation, and coarse…
Towards Lifelong Aerial Autonomy: Geometric Memory Management for Continual Visual Place Recognition in Dynamic Environments
Xingyu Shao, Zhiqiang Yan, Liangzheng Sun +5
Robust geo-localization in changing environmental conditions is critical for long-term aerial autonomy. While visual place recognition (VPR) models perform well when airborne views…
CM-Bench: A Comprehensive Cross-Modal Feature Matching Benchmark Bridging Visible and Infrared Images
Liangzheng Sun, Mengfan He, Xingyu Shao +5
Infrared-visible (IR-VIS) feature matching plays an essential role in cross-modality visual localization, navigation and perception. Along with the rapid development of deep learni…
HE-VPR: Height Estimation Enabled Aerial Visual Place Recognition Against Scale Variance
Mengfan He, Xingyu Shao, Chunyu Li +4
In this work, we propose HE-VPR, a visual place recognition (VPR) framework that incorporates height estimation. Our system decouples height inference from place recognition, allow…
HomoFM: Deep Homography Estimation with Flow Matching
Mengfan He, Liangzheng Sun, Chunyu Li +1
Deep homography estimation has broad applications in computer vision and robotics. Remarkable progresses have been achieved while the existing methods typically treat it as a direc…