AI RESEARCH
BEV-Patch-PF: Particle Filtering with BEV-Aerial Feature Matching for Off-Road Geo-Localization
arXiv CS.CV
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ArXi:2512.15111v2 Announce Type: replace-cross We propose BEV-Patch-PF, a GPS-free sequential geo-localization system that integrates a particle filter with learned bird's-eye-view (BEV) and aerial feature maps. From onboard RGB and depth images, we construct a BEV feature map. For each 3-DoF particle pose hypothesis, we crop the corresponding patch from an aerial feature map computed from a local aerial image queried around the approximate location. BEV-Patch-PF computes a per-particle log-likelihood by matching the BEV feature to the aerial patch feature.