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AGEN:在极端天气条件下的自适应错误控制驱动的交叉视图地理定位
Mengmeng Xu1, Hongxiang Lv1, Hai Zhu1
1Faculty of Electrical and Electronic Engineering, Shanghai University of Engineering Science, Shanghai 201620, China.
Sensors (Basel, Switzerland)
|June 27, 2025
概括
这项研究介绍了AGEN,这是一种用于无GPS交叉视图地理定位的新框架,可以在极端天气中提高无人机导航的准确性. AGEN将DINOv2与LPN以及适应性错误控制模块集成在一起,以实现强大的性能.
科学领域:
- 计算机视觉 计算机视觉
- 机器人技术 机器人技术 机器人技术
- 地理信息系统 (GIS) 是一个地理信息系统.
背景情况:
- 交叉视图地理定位与没有GPS的不同视角 (例如无人机,卫星) 的地理图像相匹配.
- 现有的方法在极端天气条件下与性能退化作斗争.
- 基于无人机的定位和导航需要强大的地理定位解决方案.
研究的目的:
- 提出AGEN,一个强大的端到端图像检索框架,用于在极端天气下交叉视图地理定位.
- 在具有挑战性的环境条件下提高准确性和可靠性.
主要方法:
- 将全球特征提取的DINOv2网络与详细分类特征的本地模式网络 (LPN) 集成.
- 引入一个自适应错误控制 (AEC) 模块,利用模糊控制来通过调整损失重量来动态优化损失函数.
- 开发一个强大的端到端图像检索框架 (AGEN).
主要成果:
- 在极端天气条件下,AGEN在大学160k-WX数据集上实现了91.71%的回忆@1准确度.
- 对于无人机视图目标定位和导航的University-1652和SUES-200数据集,实现了最先进的Recall@1精度.
- AGEN获得了95.43%的回忆@1 在大学-1652数据集上用于无人机视图目标定位.
结论:
- 拟议的AGEN框架显示出在极端天气条件下进行交叉视图地理定位的卓越稳定性和准确性.
- AGEN有效地处理复杂和具有挑战性的场景,优于现有的模型.
- 整合DINOv2,LPN和AEC有助于在无人机本地化和导航方面取得重大进展.
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