# Cross-View Localization via Redundant Sliced Observations and A-Contrario Validation

arXiv: https://arxiv.org/abs/2508.05369 · HTML: https://mlsanity.com/paper/2508.05369/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 44 of its 78 references that are in the map.
- First posted on arXiv 7 Aug 2025.

## Builds on (most cited first, 30 of 44)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenes](https://mlsanity.com/paper/1702.04405/) (2017)
- [MegaDepth: Learning Single-View Depth Prediction from Internet Photos](https://mlsanity.com/paper/1804.00607/) (2018)
- [Large-Scale Image Retrieval with Attentive Deep Local Features](https://mlsanity.com/paper/1612.06321/) (2016)
- [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)
- [University-1652: A Multi-view Multi-source Benchmark for Drone-based Geo-localization](https://mlsanity.com/paper/2002.12186/) (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)
- [Fast Approximate Nearest Neighbor Search With The Navigating Spreading-out Graph](https://mlsanity.com/paper/1707.00143/) (2017)
- [Multi-Channel Attention Selection GAN with Cascaded Semantic Guidance for Cross-View Image Translation](https://mlsanity.com/paper/1904.06807/) (2019)
- [Each Part Matters: Local Patterns Facilitate Cross-view Geo-localization](https://mlsanity.com/paper/2008.11646/) (2020)
- [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)
- [Cross-view Geo-localization via Learning Disentangled Geometric Layout Correspondence](https://mlsanity.com/paper/2212.04074/) (2022)
- [Cross-View Image Synthesis using Conditional GANs](https://mlsanity.com/paper/1803.03396/) (2018)
- [Fine-Grained Cross-View Geo-Localization Using a Correlation-Aware Homography Estimator](https://mlsanity.com/paper/2308.16906/) (2023)
- [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)
- [Boosting 3-DoF Ground-to-Satellite Camera Localization Accuracy via Geometry-Guided Cross-View Transformer](https://mlsanity.com/paper/2307.08015/) (2023)
- [Geometry-Guided Street-View Panorama Synthesis from Satellite Imagery](https://mlsanity.com/paper/2103.01623/) (2021)
- [Cross-view image geo-localization with Panorama-BEV Co-Retrieval Network](https://mlsanity.com/paper/2408.05475/) (2024)
- [Ford Multi-AV Seasonal Dataset](https://mlsanity.com/paper/2003.07969/) (2020)
- [Convolutional Cross-View Pose Estimation](https://mlsanity.com/paper/2303.05915/) (2023)
- [GeoDTR+: Toward generic cross-view geolocalization via geometric disentanglement](https://mlsanity.com/paper/2308.09624/) (2023)
- [MODS: Fast and Robust Method for Two-View Matching](https://mlsanity.com/paper/1503.02619/) (2015)

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

- [ViewBridge:Revisiting Cross-View Localization from Image Matching](https://mlsanity.com/paper/2508.10716/) (2025)

## Abstract (arXiv)

Cross-view localization (CVL) matches ground-level images with aerial references to determine the geo-position of a camera, enabling smart vehicles to self-localize offline in GNSS-denied environments. However, most CVL methods output only a single observation, the camera pose, and lack the redundant observations required by surveying principles, making it challenging to assess localization reliability through the mutual validation of observational data. To tackle this, we introduce Slice-Loc, a two-stage method featuring an a-contrario reliability validation for CVL. Instead of using the query image as a single input, Slice-Loc divides it into sub-images and estimates the 3-DoF pose for each slice, creating redundant and independent observations. Then, a geometric rigidity formula is proposed to filter out the erroneous 3-DoF poses, and the inliers are merged to generate the final camera pose. Furthermore, we propose a model that quantifies the meaningfulness of localization by estimating the number of false alarms (NFA), according to the distribution of the locations of the sliced images. By eliminating gross errors, Slice-Loc boosts localization accuracy and effectively detects failures. After filtering out mislocalizations, Slice-Loc reduces the proportion of errors exceeding 10 m to under 3%. In cross-city tests on the DReSS dataset, Slice-Loc cuts the mean localization error from 4.47 m to 1.86 m and the mean orientation error from mathbf3.42circ to mathbf1.24circ, outperforming state-of-the-art methods. Code and dataset will be available at: https://github.com/bnothing/Slice-Loc.