TACO: Trajectory Aligning Cross-view Optimisation
Cross-View Geo-localisation (CVGL) matches ground imagery against satellite tiles to give absolute position fixes, an alternative to GNSS where signals are occluded, jammed, or spoofed. Recent fine-grained CVGL methods regress sub-tile metric pose, but have only been evaluated as one-shot localisers, never as the primary fix in a live pipeline. Inertial sensing provides high-rate relative motion, but accumulates unbounded drift without an absolute anchor. We propose TACO, a tightly-coupled IMU + fine-grained CVGL pipeline that consumes a single GNSS reading at start-up and thereafter operates on onboard sensing alone. A closed-form cross-track error model triggers CVGL before IMU drift ex...
| Authors | Tavis Shore, Oscar Mendez, Simon Hadfield |
|---|---|
| Primary category | cs.CV |
| Published | 5 May 2026 |
| Last updated at source | 5 May 2026 |
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