CroCo: Cross-Modal Contrastive learning for localization of Earth Observation data

04/14/2022
by   Wei-Hsin Tseng, et al.
0

It is of interest to localize a ground-based LiDAR point cloud on remote sensing imagery. In this work, we tackle a subtask of this problem, i.e. to map a digital elevation model (DEM) rasterized from aerial LiDAR point cloud on the aerial imagery. We proposed a contrastive learning-based method that trains on DEM and high-resolution optical imagery and experiment the framework on different data sampling strategies and hyperparameters. In the best scenario, the Top-1 score of 0.71 and Top-5 score of 0.81 are obtained. The proposed method is promising for feature learning from RGB and DEM for localization and is potentially applicable to other data sources too. Source code will be released at https://github.com/wtseng530/AVLocalization.

READ FULL TEXT

page 3

page 4

page 5

page 6

research
06/24/2022

Contrastive Learning of Features between Images and LiDAR

Image and Point Clouds provide different information for robots. Finding...
research
09/12/2020

RGB2LIDAR: Towards Solving Large-Scale Cross-Modal Visual Localization

We study an important, yet largely unexplored problem of large-scale cro...
research
09/30/2019

Coarse-to-Fine Registration of Airborne LiDAR Data and Optical Imagery on Urban Scenes

Applications based on synergistic integration of optical imagery and LiD...
research
04/22/2021

Focusing on Shadows for Predicting Heightmaps from Single Remotely Sensed RGB Images with Deep Learning

Estimating the heightmaps of buildings and vegetation in single remotely...
research
07/30/2023

Fusing VHR Post-disaster Aerial Imagery and LiDAR Data for Roof Classification in the Caribbean using CNNs

Accurate and up-to-date information on building characteristics is essen...
research
03/25/2023

ViPFormer: Efficient Vision-and-Pointcloud Transformer for Unsupervised Pointcloud Understanding

Recently, a growing number of work design unsupervised paradigms for poi...
research
03/26/2019

Ground Profile Recovery from Aerial 3D LiDAR-based Maps

The paper presents the study and implementation of the ground detection ...

Please sign up or login with your details

Forgot password? Click here to reset