| title | CIPER: A Unified Framework for Cross-view Image-retrieval and Pose-estimation |
|---|---|
| authors | Yurim Jeon, Dongseong Seo, Seung-Woo Seo |
| date | 2026-06-03 |
| venue | arXiv (preprint, not peer reviewed) |
| id | arXiv:2606.05011 |
| affiliation | Seoul National University |
| links | abs pdf hf code |
| abstract | Cross-view geo-localization estimates the geographic location of a ground image by matching it against an aerial image database. Existing methods tackle this through either large-scale retrieval or precise pose estimation, but not both: retrieval-based methods enable wide-area search at the cost of localization accuracy, while pose estimation methods achieve high precision within only a narrow search space. Naively cascading these pipelines introduces error propagation and inconsistent feature representations. We formulate cross-view geo-localization as a unified problem requiring simultaneous city-scale retrieval and precise 3-DoF pose estimation. We propose CIPER (Cross-view Image-retrieval and Pose-estimation transformER), a single architecture that jointly performs both tasks through mutually beneficial feature learning. CIPER uses a shared transformer encoder with task-specific tokens to disentangle global retrieval features from spatial localization cues. To bridge the large domain gap between ground and aerial views, we introduce a two-way transformer pose decoder that uses ground features as spatial queries for bidirectional cross-attention. A set prediction strategy further enables stable 3-DoF regression under a unified multi-task objective. Experiments on VIGOR, KITTI, and Ford Multi-AV demonstrate competitive performance, especially under limited field-of-view and arbitrary orientation conditions. Code is available at https://github.com/yurimjeon1892/CIPER. |
cite
@misc{jeon2026ciper,
title={CIPER: A Unified Framework for Cross-view Image-retrieval and Pose-estimation},
author={Yurim Jeon and Dongseong Seo and Seung-Woo Seo},
year={2026},
eprint={2606.05011},
archivePrefix={arXiv},
url={https://arxiv.org/abs/2606.05011}
}