MatchCityLoc: Aerial Localization in LoD City Models via Surface Normal Matching
Autonomous Unmanned Aerial Vehicle (UAV) navigation in urban environments requires precise pose estimation. Because Global Navigation Satellite System (GNSS) signals are often unreliable in cities, visual localization serves as a crucial complement. Within this domain, textureless Level-of-Detail (LoD) city models provide a lightweight and privacy-preserving substitute for heavy 3D textured meshes. However, localizing against abstract geometry is challenging. Existing pipelines typically score 2D silhouette overlaps, which can suffer from severe geometric ambiguities. We present MatchCityLoc, a framework that shifts this paradigm to direct feature matching from a noisy 6-DoF pose prior. B...
| Authors | Oussema Dhaouadi, Zuria Bauer, Johannes Michael Meier et al. |
|---|---|
| Primary category | cs.CV |
| Published | 19 October 2026 |
| Last updated at source | 19 October 2026 |
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