# Landmark Stereo Dataset for Landmark Recognition and Moving Node Localization in a Non-GPS Battlefield Environment

arXiv: https://arxiv.org/abs/2402.12320 · HTML: https://mlsanity.com/paper/2402.12320/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 5 of its 31 references that are in the map.
- First posted on arXiv 19 Feb 2024.

## Builds on (most cited first, 5 of 5)

- [ORB-SLAM: a Versatile and Accurate Monocular SLAM System](https://mlsanity.com/paper/1502.00956/) (2015)
- [ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras](https://mlsanity.com/paper/1610.06475/) (2016)
- [Pyramid Stereo Matching Network](https://mlsanity.com/paper/1803.08669/) (2018)
- [Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age](https://mlsanity.com/paper/1606.05830/) (2016)
- [DeepLocalization: Landmark-based Self-Localization with Deep Neural Networks](https://mlsanity.com/paper/1904.09007/) (2019)

## Built on by (most cited first, 1 of 1)

- [SafeNav: Safe Path Navigation using Landmark Based Localization in a GPS-denied Environment](https://mlsanity.com/paper/2505.01956/) (2025)

## Abstract (arXiv)

In this paper, we have proposed a new strategy of using the landmark anchor node instead of a radio-based anchor node to obtain the virtual coordinates (landmarkID, DISTANCE) of moving troops or defense forces that will help in tracking and maneuvering the troops along a safe path within a GPS-denied battlefield environment. The proposed strategy implements landmark recognition using the Yolov5 model and landmark distance estimation using an efficient Stereo Matching Algorithm. We consider that a moving node carrying a low-power mobile device facilitated with a calibrated stereo vision camera that captures stereo images of a scene containing landmarks within the battlefield region whose locations are stored in an offline server residing within the device itself. We created a custom landmark image dataset called MSTLandmarkv1 with 34 landmark classes and another landmark stereo dataset of those 34 landmark instances called MSTLandmarkStereov1. We trained the YOLOv5 model with MSTLandmarkv1 dataset and achieved 0.95 mAP @ 0.5 IoU and 0.767 mAP @ [0.5: 0.95] IoU. We calculated the distance from a node to the landmark utilizing the bounding box coordinates and the depth map generated by the improved SGM algorithm using MSTLandmarkStereov1. The tuple of landmark IDs obtained from the detection result and the distances calculated by the SGM algorithm are stored as the virtual coordinates of a node. In future work, we will use these virtual coordinates to obtain the location of a node using an efficient trilateration algorithm and optimize the node position using the appropriate optimization method.