# Anchor-free Cross-view Object Geo-localization with Gaussian Position Encoding and Cross-view Association

arXiv: https://arxiv.org/abs/2509.25623 · HTML: https://mlsanity.com/paper/2509.25623/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 10 of its 19 references that are in the map.
- First posted on arXiv 30 Sep 2025.

## Builds on (most cited first, 10 of 10)

- [FCOS: Fully Convolutional One-Stage Object Detection](https://mlsanity.com/paper/1904.01355/) (2019)
- [Generalized Intersection over Union: A Metric and A Loss for Bounding Box Regression](https://mlsanity.com/paper/1902.09630/) (2019)
- [CornerNet: Detecting Objects as Paired Keypoints](https://mlsanity.com/paper/1808.01244/) (2018)
- [CenterNet: Keypoint Triplets for Object Detection](https://mlsanity.com/paper/1904.08189/) (2019)
- [Wide-Area Image Geolocalization with Aerial Reference Imagery](https://mlsanity.com/paper/1510.03743/) (2015)
- [TransGeo: Transformer Is All You Need for Cross-view Image Geo-localization](https://mlsanity.com/paper/2204.00097/) (2022)
- [Bottom-up Object Detection by Grouping Extreme and Center Points](https://mlsanity.com/paper/1901.08043/) (2019)
- [3D Visual Perception for Self-Driving Cars using a Multi-Camera System: Calibration, Mapping, Localization, and Obstacle Detection](https://mlsanity.com/paper/1708.09839/) (2017)
- [ConGeo: Robust Cross-view Geo-localization across Ground View Variations](https://mlsanity.com/paper/2403.13965/) (2024)
- [VAGeo: View-specific Attention for Cross-View Object Geo-Localization](https://mlsanity.com/paper/2501.07194/) (2025)

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

- [Multi-View Mixture-of-Experts with Vision-Language Reranking for Cross-View Object Geo-Localization](https://mlsanity.com/paper/2609.18139/) (2026)

## Abstract (arXiv)

Most existing cross-view object geo-localization approaches adopt anchor-based paradigm. Although effective, such methods are inherently constrained by predefined anchors. To eliminate this dependency, we first propose an anchor-free formulation for cross-view object geo-localization, termed AFGeo. AFGeo directly predicts the four directional offsets (left, right, top, bottom) to the ground-truth box for each pixel, thereby localizing the object without any predefined anchors. To obtain a more robust spatial prior, AFGeo incorporates Gaussian Position Encoding (GPE) to model the click point in the query image, mitigating the uncertainty of object position that challenges object localization in cross-view scenarios. In addition, AFGeo incorporates a Cross-view Object Association Module (CVOAM) that relates the same object and its surrounding context across viewpoints, enabling reliable localization under large cross-view appearance gaps. By adopting an anchor-free localization paradigm that integrates GPE and CVOAM with minimal parameter overhead, our model is both lightweight and computationally efficient, achieving state-of-the-art performance on benchmark datasets.