Cross-View Yaw Estimation in Location Uncertainty with Line-Aligning Yaw Scoring

Consistent cross-view understanding under extreme viewpoint changes is essential for spatial intelligence, as it enables models to recognize the same scene across extreme viewpoint gaps. Cross-view localization naturally provides a promising pathway toward this ability, as it requires a model to align ground-view imagery with geo-referenced satellite-view imagery despite drastic appearance changes to estimate camera poses. Recent visual foundation models have made this long-standing localization problem increasingly feasible by providing rich 2D representations for cross-view matching. However, we argue that cross-view localization should not be viewed merely as 2D matching or pose estimation. In this work, we revisit cross-view localization as more than pose estimation and investigate how it can help the model develop consistent cross-view understanding under extreme viewpoint changes, including stable semantics, reliable structure, and transferable geometry. We identify three key limitations of existing methods that prevent them from achieving this. They usually lack explicit 3D grounding, rely on strict point-wise matching that can weaken semantic consistency, and learn from an absolute objective that provides limited guidance for geometric reasoning. To address these limitations, we propose CROSS, a unified cross-view localization framework built upon 3D-grounded alignment, structure-aware matching, and hypothesis ranking. This formulation makes structure learning an intrinsic requirement, encourages semantic representations to remain stable, and enables the model to acquire transferable geometry. Extensive experiments on the KITTI and VIGOR datasets show that CROSS achieves state-of-the-art performance in cross-view localization. More importantly, CROSS effectively learns stable semantics, reliable structure, and transferable geometry across extremely different viewpoints.

Cross-view localization classically asks: where does this ground image lie on the satellite tile? Existing methods are typically limited to 3-DoF estimates -- an $(x,y)$ position and a yaw angle -- because nadir satellite imagery provides no direct cues for roll, pitch, or altitude, forcing a reliance on planar-motion and zero-tilt assumptions. These assumptions break on real terrain with slopes, ramps, and tilted camera mounts. To overcome this, we introduce a single UAV image as an intermediate viewpoint: it reveals the 3D structure invisible from nadir, supplies the cues for roll, pitch, and altitude that the satellite alone cannot provide, and needs only spatial overlap with the ground camera -- no known relative pose is required. Building on this insight, we propose Cross3R, a flexible feed-forward model that ingests a satellite tile together with a UAV image, a ground image, or both, and, in a single forward pass, recovers a cross-view 3D point cloud, the 6-DoF poses of every input camera, and the on-tile $(x,y)$ position and yaw of each perspective camera. For training and evaluation, we also construct CrossGeo, a 278K-image tri-view dataset spanning 85 scenes across every continent except Antarctica. On CrossGeo, Cross3R consistently outperforms feed-forward 3D baselines in point-cloud reconstruction, 6-DoF camera-pose estimation, and cross-view localization. On KITTI, it outperforms dedicated cross-view methods trained on KITTI on most metrics, despite having no KITTI training itself.

Cross-view geo-localization estimates the geographic location of a ground image by matching it against an aerial image database. Existing methods tackle this through either large-scale retrieval or precise pose estimation, but not both: retrieval-based methods enable wide-area search at the cost of localization accuracy, while pose estimation methods achieve high precision within only a narrow search space. Naively cascading these pipelines introduces error propagation and inconsistent feature representations. We formulate cross-view geo-localization as a unified problem requiring simultaneous city-scale retrieval and precise 3-DoF pose estimation. We propose CIPER (Cross-view Image-retrieval and Pose-estimation transformER), a single architecture that jointly performs both tasks through mutually beneficial feature learning. CIPER uses a shared transformer encoder with task-specific tokens to disentangle global retrieval features from spatial localization cues. To bridge the large domain gap between ground and aerial views, we introduce a two-way transformer pose decoder that uses ground features as spatial queries for bidirectional cross-attention. A set prediction strategy further enables stable 3-DoF regression under a unified multi-task objective. Experiments on VIGOR, KITTI, and Ford Multi-AV demonstrate competitive performance, especially under limited field-of-view and arbitrary orientation conditions. Code is available at https://github.com/yurimjeon1892/CIPER.