arXiv:2508.05369cs.CV2025-08被引 1

通过切片观测与反向验证,提升无卫星信号环境下的定位精度与可靠性。

Cross-View Localization via Redundant Sliced Observations and A-Contrario Validation

  • 将查询图像切分为子图,分别估计姿态,生成冗余观测数据。
  • 利用几何刚性过滤错误姿态,使10米以上误差率低于3%。
  • 适合需要高可靠性的自动驾驶定位系统,尤其在无GNSS场景。

跨视图定位(CVL)将地面图像与航拍参考图匹配,以确定相机的地理坐标,使智能车辆在无GNSS环境下实现离线自定位。然而,大多数CVL方法仅输出单一观测结果(即相机位姿),缺乏测绘所需的冗余观测,难以通过观测数据间的相互验证评估定位可靠性。为此,本文提出Slice-Loc,一种两阶段方法,包含a-contrario可靠性验证机制。不同于传统单幅输入,Slice-Loc将查询图像分割为子图像,对每块估算3自由度(3-DoF)位姿,生成独立且冗余的观测。随后,提出几何刚性公式过滤错误位姿,保留一致内点并融合生成最终位姿。此外,构建模型通过分析切片位置分布,量化定位有效性,估计虚假报警数(NFA)。该方法有效剔除粗差,显著提升定位精度与故障检测能力。经筛选后,10米以上误差比例降至3%以下。在DReSS跨城市数据集测试中,平均定位误差由4.47米降至1.86米,平均朝向误差从3.42°降至1.24°,优于当前最先进方法。代码与数据集将公开于:https://github.com/bnothing/Slice-Loc。

原文摘要 · Abstract (English)

Cross-view localization (CVL) matches ground-level images with aerial references to determine the geo-position of a camera, enabling smart vehicles to self-localize offline in GNSS-denied environments. However, most CVL methods output only a single observation, the camera pose, and lack the redundant observations required by surveying principles, making it challenging to assess localization reliability through the mutual validation of observational data. To tackle this, we introduce Slice-Loc, a two-stage method featuring an a-contrario reliability validation for CVL. Instead of using the query image as a single input, Slice-Loc divides it into sub-images and estimates the 3-DoF pose for each slice, creating redundant and independent observations. Then, a geometric rigidity formula is proposed to filter out the erroneous 3-DoF poses, and the inliers are merged to generate the final camera pose. Furthermore, we propose a model that quantifies the meaningfulness of localization by estimating the number of false alarms (NFA), according to the distribution of the locations of the sliced images. By eliminating gross errors, Slice-Loc boosts localization accuracy and effectively detects failures. After filtering out mislocalizations, Slice-Loc reduces the proportion of errors exceeding 10 m to under 3\%. In cross-city tests on the DReSS dataset, Slice-Loc cuts the mean localization error from 4.47 m to 1.86 m and the mean orientation error from $\mathbf{3.42^{\circ}}$ to $\mathbf{1.24^{\circ}}$, outperforming state-of-the-art methods. Code and dataset will be available at: https://github.com/bnothing/Slice-Loc.

定位视觉定位自动驾驶冗余观测

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