Map-Based Localization

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10 papers in the last four weeks, against 2 the four weeks before. 0.1% of all new papers.

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Learning Which Correspondences to Trust: Confidence-Weighted Event-Camera Localization in LiDAR Maps
Oct 8, 2026Panagiotis Kiousis, Kuangyi Chen, Jun Zhang +1Camera Pose Estimation Map-Based Localization
Dept. of Electrical & Computer Engineering, Univ. of Patras, Greece. · Institute of Visual Computing, Graz University of Technology, Graz, Austria.
SatFix: Absolute Visual Localization of UAVs in Satellite Maps from a Single Oblique Image
Oct 8, 2026Jiarui Zeng, Kun Shi, Chiman Vong +1Cross-View Geo-Localization Map-Based Localization
Department of Computer and Information Science, Faculty of Information Science and Computing, University of Macau, Macao SAR, China · Institute of Artificial Intelligence and Brain Sciences, University of Macau, Macao SAR, China
PARC-Loc: Text-to-Point-Cloud Localization with Partial Assignment and Relational Consistency
Oct 7, 2026Shengkai Ma, Zhenyu Hou, Weihua CaoMap-Based Localization 3D Visual Grounding
FreeLoc: Online Floorplan Localization via Diffusion-Aided Pose Refinement
Oct 4, 2026Haocheng Peng, Boyang Zhou, Jiarui Hu +7Floor-Plan-Based Visual Localization Map-Based Localization
State Key Lab of CAD&CG, Zhejiang University
MVP-SLAM: Multi-Camera Visual-Inertial Floorplan-Prior SLAM
Sep 30, 2026Asier Bikandi-Noya, Miguel Fernandez-Cortizas, Muhammad Shaheer +2Floor-Plan-Based Visual Localization Visual SLAM
Authors are with the Automation and Robotics Research Group, Interdisciplinary Centre for Security, Reliability, and Trust (SnT), University of Luxembourg, Luxembourg. · Holger Voos is also associated with the Faculty of Science, Technology, and Medicine, University of Luxembourg, Luxembourg.
UpDown-SC: Gravity-Canonicalized Dual-Envelope Scan Context for Indoor LiDAR Place Recognition
Sep 24, 2026Jie Xu, Yongxin Yang, Ziyi Jin +4LiDAR Place Recognition LiDAR Localization
Anyverse Dynamics, Beijing, China
BronchoTop: Bronchoscopy Navigation via RGB-Only Topological Localization
Sep 23, 2026Clara Tomasini, Ana Cristina Murillo, Luis RiazueloEndoscopy Map-Based Localization
DIIS - I3A - Universidad de Zaragoza, Spain
Dr-LiSA: Direct Radar-Lidar Scan Alignment for $SE(3)$ Localization
Sep 22, 2026Alex Zhang, Daniil Lisus, Cedric Le Gentil +1LiDAR Localization Map-Based Localization
Robotics Institute, University of Toronto, Canada · Mobile Robotics Lab, ETH Zürich, Switzerland
PosEviLoc: Position-Conditioned Spatial Evidence for Language-Based 3D Localization
Sep 20, 2026Tianyi Shang, Yike Shi, Zhenyu LiMap-Based Localization 3D Visual Grounding
Purdue University · Xi’an Jiaotong-Liverpool University · Qilu University of Technology (Shandong Academy of Sciences)
SlugTrails: An Egocentric Benchmark for Floor Plan Localization in Large Buildings
Sep 17, 2026Yunqian Cheng, Roberto ManduchiFloor-Plan-Based Visual Localization Visual Place Recognition
Department of Computer Science and Engineering University of California, Santa Cruz Santa Cruz, CA, USA
DRT&R: Direct Radar Teach & Repeat
Sep 15, 2026Alexander Krawciw, Daniil Lisus, Cedric Le Gentil +1Off-Road Robot Navigation Embodied Navigation
Robotics Institute, University of Toronto, Canada · Mobile Robotics Lab, ETH Zürich, Switzerland
Odometer-Agnostic Drift Correction Using OpenStreetMap Lane Geometry
Sep 9, 2026Joaquin Caballero, Emilio Garcia-Fidalgo, Alberto Ortiz +1Map-Based Localization Robot State Estimation
Distance Technologies Oy, Helsinki, Finland · Department of Mathematics and Computer Science, Institute of Artificial Intelligence, University of the Balearic Islands, 07122 Palma, Spain
GALoc: Gravity Aligned Wireframes for Depth-Free Monocular Floorplan Localization
Sep 8, 2026Jeahn Han, Minji Kim, Jeongbin Sohn +3Floor-Plan-Based Visual Localization Map-Based Localization
GIST · KAIST · Zurich University of Applied Sciences
HorizonNet for visual terrain navigation
Aug 31, 2026Bertil Grelsson, Andreas Robinson, Michael Felsberg +1Robot Navigation Map-Based Localization
Computer Vision Laboratory, Department of Electrical Engineering, Linköping University, Sweden · Inception Institute of Artificial Intelligence, Abu Dhabi, UAE
Cross-View Sequential Visual Localization with Spatio-Temporal Context Modeling for Autonomous Driving
Aug 11, 2026Jiaping Wang, Shaobo Li, Zhen WangCross-View Geo-Localization Autonomous Driving
School of Information Engineering, Chang'an University, P.R.China
SeqLoc: Beyond the Single Frame for Cross-View Geo-Localization in Feature-Sparse Scenes
Aug 8, 2026Junwei Zheng, Yun Huang, Ruize Dai +8Cross-View Geo-Localization Visual Place Recognition
Karlsruhe Institute of Technology, Karlsruhe, Germany · Hunan University, Changsha, China · University of Cambridge, Cambridge, UK
Geometry-Aware Camera Localization for Bronchoscopy
Aug 7, 2026Lumin Chen, Qingyao Tian, Jinpeng Li +5Medical Imaging Camera Pose Estimation
Centre for Artificial Intelligence and Robotics, Hong Kong Institute of Science & Innovation, Chinese Academy of Sciences · Institute of Automation, Chinese Academy of Sciences · The First Affiliated Hospital, Sun Yat-sen University
Unordered Landmark Visual Navigation
Aug 7, 2026Hao Ren, Junzhe Zhu, Yihan Li +8Visual Navigation Robot Navigation
Sun Yat-sen University, Guangzhou, China · Insta360 Research, Shenzhen, China
Topometric Autonomous Vehicle Localization by Combining Visual Embeddings and Feed-Forward 3D Models
Aug 6, 2026Eulogio Quemada-Torres, Alberto Jaenal, Francisco-Angel Moreno +1Visual Place Recognition Map-Based Localization
Machine Perception and Intelligent Robotics Group (MAPIR), Department of Systems Engineering and Automation, Malaga Institute for Mechatronics Engineering and Cyber-Physical Systems (IMECH.UMA), University of Malaga, Malaga, Spain · Robotics, Computer Vision and Artificial Intelligence Group (RoPeRT), Aragon Institute for Engineering Research (I3A), University of Zaragoza, Zaragoza, Spain
LOCUS-DT: Localization via Observation-Conditioned Uncertainty Scoring with Digital Twins
Aug 1, 2026Haozhe Lei, Roberto Bomfin, Marwa Chafii +1Wireless Localization Map-Based Localization
NYU WIRELESS, Tandon School of Engineering, New York University, Brooklyn, NY 11201, USA · Engineering Division, New York University Abu Dhabi, 129188, UAE
From Uncertainty to Determinism: Coarse-to-Fine Visual Floorplan Localization without Ray Matching
Jul 29, 2026Shiyong Meng, Bolei Chen, Ping Zhong +4Floor-Plan-Based Visual Localization Map-Based Localization
School of Computer Science and Engineering, Central South University
Leveraging Semantic Maps for City-Scale Cross-View Localization
Jul 28, 2026Ethan Fahnestock, Erick Fuentes, Philip R Osteen +1Cross-View Geo-Localization Map-Based Localization
CSAIL, MIT · DEVCOM Army Research Laboratory (ARL)
Accuracy potential of visual localization exploiting high-end street-level imagery
Jul 27, 2026Jonas Meyer, Stephan Nebiker, Pascal Theiler +1Camera Pose Estimation Map-Based Localization
Institute of Geomatics, University of Applied Sciences and Arts Northwestern Switzerland, Hofackerstrasse 30, Muttenz, 4132, BL, Switzerland · ciNovitas AG, Schlossbergweg 3, Baden, 5400, AG, Switzerland · Institute for Photogrammetry and Geoinformatics, University of Stuttgart, Geschwister-Scholl-Straße 24D, Stuttgart, 70174, BW, Germany
Visual Relocalization from Sparse Views in Aliased and Low-Texture Environments via Novel View Synthesis
Jul 24, 2026Maria Peribañez, Javier Civera, Rudolph Triebel +13D Gaussian Splatting Camera Pose Estimation
University of Zaragoza, Spain · German Aerospace Center (DLR), Institute of Robotics and Mechatronics · Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany
Move First, Commit Later: Selective LiDAR-to-BIM Global Initialization via Sequential Consensus with Symmetry-Aware Abstention
Jul 19, 2026Yujie Zhang, Yuxuan Guo, Jiashuo Zheng +3Point Cloud Registration LiDAR Localization
School of Mechanical Engineering, Hebei University of Technology, Tianjin 300401, China
Map as a Prompt: Learning Multi-Modal Spatial-Signal Foundation Models for Cross-scenario Wireless Localization
Jul 17, 2026Yong Chu, Xun Zhou, Zenglin Xu +2Wireless Foundation Models Prompt Tuning
Harbin Institute of Technology, Shenzhen · Pengcheng Laboratory · Shanghai Academy of AI for Science +1
AeroMap3D: Anchoring Monocular UAV 6-DoF Localization to Visual-Geometric-Semantic Map Priors
Jul 15, 2026Zhiyun Deng, Luis SentisCross-View Geo-Localization UAV Navigation
The University of Texas at Austin · AIVE AI Systems
RadLoc: Radar-based 3-DoF Global Localization via Fast, Robust, and Lightweight Spatial Descriptor Across Diverse Environmental Scenarios
Jul 9, 2026Hogyun Kim, Jiwon Choi, Jungwoo Lee +1Map-Based Localization Robot Localization
Electrical Engineering, Inha University, Incheon, South Korea
RadioDiff-v2: Generative Angular Radio Maps for Multi-Beam Selection and Localization
Jul 9, 2026Xiucheng Wang, Junxi Huang, Nan ChengDiffusion Transformer 6G Networks
State Key Laboratory of ISN and School of Telecommunications Engineering, Xidian University, Xi’an 710071, China
SASGeo: Stability-Aware Semantic Map Localization for GNSS-Denied UAVs -- A Framework and Synthetic Proof of Concept
Jul 7, 2026Natalia Trukhina, Vadim VashkelisCross-View Geo-Localization UAV Navigation
Embedded Intelligence Lab (emilab.org)

Oct 8, 2026, cs.CVJ/K move · Enter open · S save

Learning Which Correspondences to Trust: Confidence-Weighted Event-Camera Localization in LiDAR Maps

Panagiotis Kiousis, Kuangyi Chen, Jun Zhang, Friedrich Fraundorfer

Dept. of Electrical & Computer Engineering, Univ. of Patras, Greece. · Institute of Visual Computing, Graz University of Technology, Graz, Austria.

Camera Pose Estimation Map-Based Localization Event-Based Vision Camera-LiDAR Fusion

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Localizing an event camera against a pre-built LiDAR map can be cast as dense optical-flow estimation between a rendered depth view and an event image, followed by a Perspective-n-Point (PnP) solver over the induced 3D-2D correspondences. Existing pipelines rely on geometric consensus during pose estimation, but do not explicitly model the reliability or pose informativeness, i.e., how strongly a correspondence constrains the camera pose, of individual correspondences. We show that the natural way to learn it -- using the per-correspondence error to constrain the learning of confidence -- suffers from a depth-dependent bias: small pixel errors reside predominantly at large depths and do not lead to high pose informativeness. Instead, in our method (CELL), we learn a per-correspondence confidence end-to-end through the pose, using a differentiable probabilistic PnP whose log-partition term encourages weight configurations that yield a better-constrained pose distribution. The learned confidence is used in three ways: (i) it reweights the flow supervision in a decoupled training scheme that keeps pose gradients out of the flow/edge backbone; (ii) it drives a probabilistic correspondence selection at test time; and (iii) together with the network's edge-probability it weights a final edge-matching refinement. We further design a partial-completion depth representation that adds signal without hallucinating across large gaps. On M3ED and DSEC our full system improves over the LEAR baseline on the majority of the evaluated sequences: it reduces the median translation error by up to 26.9% and the median rotation error by up to 15.8%.

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