Wide-Area Geolocalization with a Limited Field of View Camera

摘要

Cross-view geolocalization, a supplement or replacement for GPS, localizes an agent within a search area by matching images taken from a ground-view camera to overhead images taken from satellites or aircraft. Although the viewpoint disparity between ground and overhead images makes crossview geolocalization challenging, significant progress has been made assuming that the ground agent has access to a panoramic camera. For example, our prior work (WAG) introduced changes in search area discretization, training loss, and particle filter weighting that enabled city-scale panoramic cross-view geolocalization. However, panoramic cameras are not widely used in existing robotic platforms due to their complexity and cost. Non-panoramic cross-view geolocalization is more applicable for robotics, but is also more challenging. This paper presents Restricted FOV Wide-Area Geolocalization (ReWAG), a cross-view geolocalization approach that generalizes WAG for use with standard, non-panoramic ground cameras by creating pose-aware embeddings and providing a strategy to incorporate particle pose into the Siamese network. ReWAG is a neural network and particle filter system that is able to globally localize a mobile agent in a GPS-denied environment with only odometry and a 90° FOV camera, achieving similar localization accuracy as what WAG achieved with a panoramic camera and improving localization accuracy by a factor of 100 compared to a baseline vision transformer (ViT) approach.