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ARC-Loc: Leveraging Azimuthal Ray Convergence as a Geometric Cue for Direct Cross-View Localization

arXiv · AI, language, vision and robotics · article · Sep 4, 2026 · UTC

Cross-view localization (CVL) estimates the pose of a ground image by matching it to a geo-referenced satellite image. To bridge the extreme viewpoint gap, mainstream pipelines rely on Bird's-Eye-View (BEV) transformations or 2D-to-3D lifting. However, deriving 3D structures from a single ground image is fundamentally ill-posed, causing these methods to endure geometric distortions and computational costs during 3D lifting or BEV projection. Furthermore, relying on external depth foundation models to resolve this introduces latency and remains susceptible to noisy predictions. In this work, we

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