# PIDLoc: Cross-View Pose Optimization Network Inspired by PID Controllers

arXiv: https://arxiv.org/abs/2503.02388 · HTML: https://mlsanity.com/paper/2503.02388/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- Builds on 26 of its 35 references that are in the map.
- First posted on arXiv 4 Mar 2025.

## Builds on (most cited first, 26 of 26)

- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [Very Deep Convolutional Networks for Large-Scale Image Recognition](https://mlsanity.com/paper/1409.1556/) (2014)
- [RAFT: Recurrent All-Pairs Field Transforms for Optical Flow](https://mlsanity.com/paper/2003.12039/) (2020)
- [VIGOR: Cross-View Image Geo-localization beyond One-to-one Retrieval](https://mlsanity.com/paper/2011.12172/) (2020)
- [Lending Orientation to Neural Networks for Cross-view Geo-localization](https://mlsanity.com/paper/1903.12351/) (2019)
- [Where am I looking at? Joint Location and Orientation Estimation by Cross-View Matching](https://mlsanity.com/paper/2005.03860/) (2020)
- [Coming Down to Earth: Satellite-to-Street View Synthesis for Geo-Localization](https://mlsanity.com/paper/2103.06818/) (2021)
- [Sample4Geo: Hard Negative Sampling For Cross-View Geo-Localisation](https://mlsanity.com/paper/2303.11851/) (2023)
- [Optimal Feature Transport for Cross-View Image Geo-Localization](https://mlsanity.com/paper/1907.05021/) (2019)
- [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)
- [Fine-Grained Cross-View Geo-Localization Using a Correlation-Aware Homography Estimator](https://mlsanity.com/paper/2308.16906/) (2023)
- [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)
- [Boosting 3-DoF Ground-to-Satellite Camera Localization Accuracy via Geometry-Guided Cross-View Transformer](https://mlsanity.com/paper/2307.08015/) (2023)
- [Ford Multi-AV Seasonal Dataset](https://mlsanity.com/paper/2003.07969/) (2020)
- [Convolutional Cross-View Pose Estimation](https://mlsanity.com/paper/2303.05915/) (2023)
- [Jamming Attacks and Anti-Jamming Strategies in Wireless Networks: A Comprehensive Survey](https://mlsanity.com/paper/2101.00292/) (2021)
- [Learning Dense Flow Field for Highly-accurate Cross-view Camera Localization](https://mlsanity.com/paper/2309.15556/) (2023)
- [Satellite Image Based Cross-view Localization for Autonomous Vehicle](https://mlsanity.com/paper/2207.13506/) (2022)
- [(LC)2: LiDAR-Camera Loop Constraints For Cross-Modal Place Recognition](https://mlsanity.com/paper/2304.08660/) (2023)
- [Localization Requirements for Autonomous Vehicles](https://mlsanity.com/paper/1906.01061/) (2019)
- [View Consistent Purification for Accurate Cross-View Localization](https://mlsanity.com/paper/2308.08110/) (2023)
- [Weakly-supervised Camera Localization by Ground-to-satellite Image Registration](https://mlsanity.com/paper/2409.06471/) (2024)
- [Continuous Self-Localization on Aerial Images Using Visual and Lidar Sensors](https://mlsanity.com/paper/2203.03334/) (2022)
- [BRM Localization: UAV Localization in GNSS-Denied Environments Based on Matching of Numerical Map and UAV Images](https://mlsanity.com/paper/2008.01347/) (2020)

## Built on by (most cited first, 4 of 4)

- [Just Zoom In: Cross-View Geo-Localization via Autoregressive Zooming](https://mlsanity.com/paper/2603.25686/) (2026)
- [VIRD: View-Invariant Representation through Dual-Axis Transformation for Cross-View Pose Estimation](https://mlsanity.com/paper/2603.12918/) (2026)
- [Seeing Across Skies and Streets: Feedforward 3D Reconstruction from Satellite, Drone, and Ground Images](https://mlsanity.com/paper/2605.07978/) (2026)
- [Fusing Satellite Imagery and Planimetric Maps for Cross-View Localization](https://mlsanity.com/paper/2606.10166/) (2026)

## Abstract (arXiv)

Accurate localization is essential for autonomous driving, but GNSS-based methods struggle in challenging environments such as urban canyons. Cross-view pose optimization offers an effective solution by directly estimating vehicle pose using satellite-view images. However, existing methods primarily rely on cross-view features at a given pose, neglecting fine-grained contexts for precision and global contexts for robustness against large initial pose errors. To overcome these limitations, we propose PIDLoc, a novel cross-view pose optimization approach inspired by the proportional-integral-derivative (PID) controller. Using RGB images and LiDAR, the PIDLoc comprises the PID branches to model cross-view feature relationships and the spatially aware pose estimator (SPE) to estimate the pose from these relationships. The PID branches leverage feature differences for local context (P), aggregated feature differences for global context (I), and gradients of feature differences for precise pose adjustment (D) to enhance localization accuracy under large initial pose errors. Integrated with the PID branches, the SPE captures spatial relationships within the PID-branch features for consistent localization. Experimental results demonstrate that the PIDLoc achieves state-of-the-art performance in cross-view pose estimation for the KITTI dataset, reducing position error by 37.8% compared with the previous state-of-the-art.