We present PiLoT, a unified framework that tackles UAV-based ego and target geo-localization. Conventional approaches rely on decoupled pipelines that fuse GNSS and Visual-Inertial Odometry (VIO) for ego-pose estimation, and active sensors like laser rangefinders for target localization. However, these methods are susceptible to failure in GNSS-denied environments and incur substantial hardware costs and complexity. PiLoT breaks this paradigm by directly registering live video stream against a geo-referenced 3D map. To achieve robust, accurate, and real-time performance, we introduce three key contributions: 1) a Dual-Thread Engine that decouples map rendering from core localization thread, ensuring both low latency while maintaining drift-free accuracy; 2) a large-scale synthetic dataset with precise geometric annotations (camera pose, depth maps). This dataset enables the training of a lightweight network that generalizes in a zero-shot manner from simulation to real data; and 3) a Joint Neural-Guided Stochastic-Gradient Optimizer (JNGO) that achieves robust convergence even under aggressive motion.Evaluations on a comprehensive set of public and newly collected benchmarks show that PiLoT outperforms state-of-the-art methods while running over 25 FPS on NVIDIA Jetson Orin platform. Our code and dataset are available at: https://github.com/Choyaa/PiLoT.
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cs.CV
Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表
We present LoD-Loc v3, a novel method for generalized aerial visual localization in dense urban environments. While prior work LoD-Loc v2 achieves localization through semantic building silhouette alignment with low-detail city models, it suffers from two key limitations: poor cross-scene generalization and frequent failure in dense building scenes. Our method addresses these challenges through two key innovations. First, we develop a new synthetic data generation pipeline that produces InsLoD-Loc - the largest instance segmentation dataset for aerial imagery to date, comprising 100k images with precise instance building annotations. This enables trained models to exhibit remarkable zero-shot generalization capability. Second, we reformulate the localization paradigm by shifting from semantic to instance silhouette alignment, which significantly reduces pose estimation ambiguity in dense scenes. Extensive experiments demonstrate that LoD-Loc v3 outperforms existing state-of-the-art (SOTA) baselines, achieving superior performance in both cross-scene and dense urban scenarios with a large margin. The project is available at https://nudt-sawlab.github.io/LoD-Locv3/.
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cs.CV
Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表
Domain Generalization Semantic Segmentation (DGSS) in spectral remote sensing is severely challenged by spectral shifts across diverse acquisition conditions, which cause significant performance degradation for models deployed in unseen domains. While fine-tuning foundation models is a promising direction, existing methods employ global, homogeneous adjustments. This "one-size-fits-all" tuning struggles with the spatial heterogeneity of land cover, causing semantic confusion. We argue that the key to robust DGSS lies not in a single global adaptation, but in performing fine-grained, spatially-adaptive refinement of a foundation model's features. To achieve this, we propose SpectralMoE, a novel fine-tuning framework for DGSS. It operationalizes this principle by utilizing a Mixture-of-Experts (MoE) architecture to perform local precise refinement on the foundation model's features, incorporating depth features estimated from selected RGB bands of the spectral remote sensing imagery to guide the fine-tuning process. Specifically, SpectralMoE employs a dual-gated MoE architecture that independently routes visual and depth features to top-k selected experts for specialized refinement, enabling modality-specific adjustments. A subsequent cross-attention mechanism then judiciously fuses the refined structural cues into the visual stream, mitigating semantic ambiguities caused by spectral variations. Extensive experiments show that SpectralMoE sets a new state-of-the-art on multiple DGSS benchmarks across hyperspectral, multispectral, and RGB remote sensing imagery.
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cs.CV
Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表
We propose MIRA (Multimodal Imagination for Reasoning Assessment), a new benchmark designed to evaluate models in scenarios where generating intermediate visual images is essential for successful reasoning. Unlike traditional Chain-of-thought (CoT) methods that rely solely on text, tasks in MIRA require models to generate and utilize intermediate images --- such as sketches, structural diagrams, or path drawings --- to guide their reasoning process. This setup closely mirrors how humans solve complex problems through "drawing to think". To solve this, MIRA focuses on tasks that are intrinsically challenging and involve complex structures, spatial relationships, or reasoning steps that are difficult to express through language alone (e.g., tracking a die's movement on a board and summing the face-down values after each roll). To ensure that our evaluation data is of high-quality, we include 546 multimodal problems, annotated with intermediate visual images and final answers. We also propose a unified evaluation protocol for MIRA that spans three levels of evaluation input: direct input with image and question only, text-only CoT (Text-CoT) input with image and thinking prompts, and Visual-CoT input with both annotated image clues and textual thinking prompts. To probe the upper bound of model capacity on our benchmark, we also report pass@k and majority voting accuracies under different k settings. Experimental results show that existing multimodal large language models (MLLMs), including strongest private models (e.g., GPT-5, o3, Gemini 2.5 Pro) as well as strong open-weight models (e.g., Qwen2.5-VL, GLM 4.5V), perform poorly when relying solely on textual prompts. However, when intermediate visual cues are provided, model performance improves consistently, yielding an average relative gain of 33.7% across all models and tasks. We also probe the upper bound by expanding the search space and designing textual prompts aligned with Visual-CoT, but both yield only limited improvements compared to our Visual-CoT setting. These results underscore the critical role of imagined visual information in enabling successful reasoning on MIRA.
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cs.CV · cs.CL
Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表