# Cross-View Yaw Estimation in Location Uncertainty with Line-Aligning Yaw Scoring

arXiv: https://arxiv.org/abs/2606.22094 · HTML: https://mlsanity.com/paper/2606.22094/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 28 of its 45 references that are in the map.
- First posted on arXiv 20 Jun 2026.

## Builds on (most cited first, 28 of 28)

- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)
- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [Empirical Evaluation of Rectified Activations in Convolutional Network](https://mlsanity.com/paper/1505.00853/) (2015)
- [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)
- [TransGeo: Transformer Is All You Need for Cross-view Image Geo-localization](https://mlsanity.com/paper/2204.00097/) (2022)
- [Where am I looking at? Joint Location and Orientation Estimation by Cross-View Matching](https://mlsanity.com/paper/2005.03860/) (2020)
- [PlaNet - Photo Geolocation with Convolutional Neural Networks](https://mlsanity.com/paper/1602.05314/) (2016)
- [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)
- [Perspective Fields for Single Image Camera Calibration](https://mlsanity.com/paper/2212.03239/) (2022)
- [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)
- [SNAP: Self-Supervised Neural Maps for Visual Positioning and Semantic Understanding](https://mlsanity.com/paper/2306.05407/) (2023)
- [Convolutional Cross-View Pose Estimation](https://mlsanity.com/paper/2303.05915/) (2023)
- [FG2: Fine-Grained Cross-View Localization by Fine-Grained Feature Matching](https://mlsanity.com/paper/2503.18725/) (2025)
- [UprightNet: Geometry-Aware Camera Orientation Estimation from Single Images](https://mlsanity.com/paper/1908.07070/) (2019)
- [CVLNet: Cross-View Semantic Correspondence Learning for Video-based Camera Localization](https://mlsanity.com/paper/2208.03660/) (2022)
- [Learning Dense Flow Field for Highly-accurate Cross-view Camera Localization](https://mlsanity.com/paper/2309.15556/) (2023)
- [MapLocNet: Coarse-to-Fine Feature Registration for Visual Re-Localization in Navigation Maps](https://mlsanity.com/paper/2407.08561/) (2024)
- [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)
- [UNav: An Infrastructure-Independent Vision-Based Navigation System for People with Blindness and Low vision](https://mlsanity.com/paper/2209.11336/) (2022)
- [Robust Frame-to-Frame Camera Rotation Estimation in Crowded Scenes](https://mlsanity.com/paper/2309.08588/) (2023)

## Abstract (arXiv)

Accurate yaw estimation is a bottleneck in cross-view localization between ground view and Bird's Eye View (BEV). Existing methods couple yaw with translation and rely on height or projection assumptions that degrade under large yaw ambiguity. We disentangle yaw from location accuracy and introduce LAYS, a radially invariant line-consensus voting method. By exploiting the radial invariance of our formulation, we achieve sub-degree yaw precision via 3D voting over all candidate poses, while eliminating the need for accurate location. Our key observation is that a ground-image column matched to BEV pixels induces the same yaw across all camera positions along the radial direction of the pixels. LAYS matches BEV pixels to ground columns using feature similarity and accumulates the induced yaw votes into discrete 3D bins, where correct correspondences along the radial line concentrate into a sharp peak for the correct yaw. Experiments on Mapillary, Ford, KITTI, and VIGOR show significant gains under unknown yaw, particularly for normal FoV with unknown yaw (+28~45%p), and using LAYS as a yaw prior improves downstream 3-DoF localization.