# Fine-Grained Cross-View Geo-Localization Using a Correlation-Aware Homography Estimator

arXiv: https://arxiv.org/abs/2308.16906 · HTML: https://mlsanity.com/paper/2308.16906/

## Key facts

- Cited by 57 papers in the map (data through 14 Oct 2026).
- Builds on 30 of its 41 references that are in the map.
- First posted on arXiv 31 Aug 2023.

## Builds on (most cited first, 30 of 30)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Representation Learning with Contrastive Predictive Coding](https://mlsanity.com/paper/1807.03748/) (2018)
- [EfficientNet: Rethinking Model Scaling for Convolutional Neural Networks](https://mlsanity.com/paper/1905.11946/) (2019)
- [RAFT: Recurrent All-Pairs Field Transforms for Optical Flow](https://mlsanity.com/paper/2003.12039/) (2020)
- [SuperGlue: Learning Feature Matching with Graph Neural Networks](https://mlsanity.com/paper/1911.11763/) (2019)
- [BEVFormer: Learning Bird's-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformers](https://mlsanity.com/paper/2203.17270/) (2022)
- [LoFTR: Detector-Free Local Feature Matching with Transformers](https://mlsanity.com/paper/2104.00680/) (2021)
- [VIGOR: Cross-View Image Geo-localization beyond One-to-one Retrieval](https://mlsanity.com/paper/2011.12172/) (2020)
- [Wide-Area Image Geolocalization with Aerial Reference Imagery](https://mlsanity.com/paper/1510.03743/) (2015)
- [Lending Orientation to Neural Networks for Cross-view Geo-localization](https://mlsanity.com/paper/1903.12351/) (2019)
- [TransGeo: Transformer Is All You Need for Cross-view Image Geo-localization](https://mlsanity.com/paper/2204.00097/) (2022)
- [Deep Image Homography Estimation](https://mlsanity.com/paper/1606.03798/) (2016)
- [Learning to Navigate in Cities Without a Map](https://mlsanity.com/paper/1804.00168/) (2018)
- [Localizing and Orienting Street Views Using Overhead Imagery](https://mlsanity.com/paper/1608.00161/) (2016)
- [Predicting Ground-Level Scene Layout from Aerial Imagery](https://mlsanity.com/paper/1612.02709/) (2016)
- [Beyond Cross-view Image Retrieval: Highly Accurate Vehicle Localization Using Satellite Image](https://mlsanity.com/paper/2204.04752/) (2022)
- [OrienterNet: Visual Localization in 2D Public Maps with Neural Matching](https://mlsanity.com/paper/2304.02009/) (2023)
- [Cross-View Image Matching for Geo-localization in Urban Environments](https://mlsanity.com/paper/1703.07815/) (2017)
- [Uncertainty-aware Vision-based Metric Cross-view Geolocalization](https://mlsanity.com/paper/2211.12145/) (2022)
- [Visual Cross-View Metric Localization with Dense Uncertainty Estimates](https://mlsanity.com/paper/2208.08519/) (2022)
- [SliceMatch: Geometry-guided Aggregation for Cross-View Pose Estimation](https://mlsanity.com/paper/2211.14651/) (2022)
- [Iterative Deep Homography Estimation](https://mlsanity.com/paper/2203.15982/) (2022)
- [Boosting 3-DoF Ground-to-Satellite Camera Localization Accuracy via Geometry-Guided Cross-View Transformer](https://mlsanity.com/paper/2307.08015/) (2023)
- [Accurate 3-DoF Camera Geo-Localization via Ground-to-Satellite Image Matching](https://mlsanity.com/paper/2203.14148/) (2022)
- [Deep Lucas-Kanade Homography for Multimodal Image Alignment](https://mlsanity.com/paper/2104.11693/) (2021)
- [Convolutional Cross-View Pose Estimation](https://mlsanity.com/paper/2303.05915/) (2023)
- [Image-Based Geo-Localization Using Satellite Imagery](https://mlsanity.com/paper/1903.00159/) (2019)
- [Unsupervised Homography Estimation with Coplanarity-Aware GAN](https://mlsanity.com/paper/2205.03821/) (2022)
- [Cross-View Policy Learning for Street Navigation](https://mlsanity.com/paper/1906.05930/) (2019)
- [Accurate Visual Localization for Automotive Applications](https://mlsanity.com/paper/1905.03706/) (2019)

## Built on by (most cited first, 30 of 57)

- [Cross-view image geo-localization with Panorama-BEV Co-Retrieval Network](https://mlsanity.com/paper/2408.05475/) (2024)
- [Where am I? Cross-View Geo-localization with Natural Language Descriptions](https://mlsanity.com/paper/2412.17007/) (2024)
- [Unleashing Unlabeled Data: A Paradigm for Cross-View Geo-Localization](https://mlsanity.com/paper/2403.14198/) (2024)
- [Recognition through Reasoning: Reinforcing Image Geo-localization with Large Vision-Language Models](https://mlsanity.com/paper/2506.14674/) (2025)
- [FG2: Fine-Grained Cross-View Localization by Fine-Grained Feature Matching](https://mlsanity.com/paper/2503.18725/) (2025)
- [SG-BEV: Satellite-Guided BEV Fusion for Cross-View Semantic Segmentation](https://mlsanity.com/paper/2404.02638/) (2024)
- [Video2BEV: Transforming Drone Videos to BEVs for Video-based Geo-localization](https://mlsanity.com/paper/2411.13610/) (2024)
- [Cross-view geo-localization: a survey](https://mlsanity.com/paper/2406.09722/) (2024)
- [Weakly-supervised Camera Localization by Ground-to-satellite Image Registration](https://mlsanity.com/paper/2409.06471/) (2024)
- [Adapting Fine-Grained Cross-View Localization to Areas without Fine Ground Truth](https://mlsanity.com/paper/2406.00474/) (2024)
- [Leveraging BEV Paradigm for Ground-to-Aerial Image Synthesis](https://mlsanity.com/paper/2408.01812/) (2024)
- [GAIR: Location-Aware Self-Supervised Contrastive Pre-Training with Geo-Aligned Implicit Representations](https://mlsanity.com/paper/2503.16683/) (2025)
- [BevSplat: Resolving Height Ambiguity via Feature-Based Gaussian Primitives for Weakly-Supervised Cross-View Localization](https://mlsanity.com/paper/2502.09080/) (2025)
- [GeoDistill: Geometry-Guided Self-Distillation for Weakly Supervised Cross-View Localization](https://mlsanity.com/paper/2507.10935/) (2025)
- [Loc2: Interpretable Cross-View Localization via Depth-Lifted Local Feature Matching](https://mlsanity.com/paper/2509.09792/) (2025)
- [SSHNet: Unsupervised Cross-modal Homography Estimation via Problem Reformulation and Split Optimization](https://mlsanity.com/paper/2409.17993/) (2024)
- [PIDLoc: Cross-View Pose Optimization Network Inspired by PID Controllers](https://mlsanity.com/paper/2503.02388/) (2025)
- [A Unified Hierarchical Framework for Fine-grained Cross-view Geo-localization over Large-scale Scenarios](https://mlsanity.com/paper/2505.07622/) (2025)
- [HomoMatcher: Dense Feature Matching Results with Semi-Dense Efficiency by Homography Estimation](https://mlsanity.com/paper/2411.06700/) (2024)
- [SA-Occ: Satellite-Assisted 3D Occupancy Prediction in Real World](https://mlsanity.com/paper/2503.16399/) (2025)
- [GeoExplorer: Active Geo-localization with Curiosity-Driven Exploration](https://mlsanity.com/paper/2508.00152/) (2025)
- [AGL-NET: Aerial-Ground Cross-Modal Global Localization with Varying Scales](https://mlsanity.com/paper/2404.03187/) (2024)
- [Cross-View Geo-Localization with Street-View and VHR Satellite Imagery in Decentrality Settings](https://mlsanity.com/paper/2412.11529/) (2024)
- [GeoVLM: Improving Automated Vehicle Geolocalisation Using Vision-Language Matching](https://mlsanity.com/paper/2505.13669/) (2025)
- [Spatiotemporal Contrastive Learning for Cross-View Video Localization in Unstructured Off-road Terrains](https://mlsanity.com/paper/2506.05250/) (2025)
- [CVD-SfM: A Cross-View Deep Front-end Structure-from-Motion System for Sparse Localization in Multi-Altitude Scenes](https://mlsanity.com/paper/2508.01936/) (2025)
- [ViewBridge:Revisiting Cross-View Localization from Image Matching](https://mlsanity.com/paper/2508.10716/) (2025)
- [Cross-View Localization via Redundant Sliced Observations and A-Contrario Validation](https://mlsanity.com/paper/2508.05369/) (2025)
- [HomoFM: Deep Homography Estimation with Flow Matching](https://mlsanity.com/paper/2601.18222/) (2026)
- [Interpretable Perception and Reasoning for Audiovisual Geolocation](https://mlsanity.com/paper/2603.05708/) (2026)

## Abstract (arXiv)

In this paper, we introduce a novel approach to fine-grained cross-view geo-localization. Our method aligns a warped ground image with a corresponding GPS-tagged satellite image covering the same area using homography estimation. We first employ a differentiable spherical transform, adhering to geometric principles, to accurately align the perspective of the ground image with the satellite map. This transformation effectively places ground and aerial images in the same view and on the same plane, reducing the task to an image alignment problem. To address challenges such as occlusion, small overlapping range, and seasonal variations, we propose a robust correlation-aware homography estimator to align similar parts of the transformed ground image with the satellite image. Our method achieves sub-pixel resolution and meter-level GPS accuracy by mapping the center point of the transformed ground image to the satellite image using a homography matrix and determining the orientation of the ground camera using a point above the central axis. Operating at a speed of 30 FPS, our method outperforms state-of-the-art techniques, reducing the mean metric localization error by 21.3% and 32.4% in same-area and cross-area generalization tasks on the VIGOR benchmark, respectively, and by 34.4% on the KITTI benchmark in same-area evaluation.