SemCityLoc achieves aerial 6DoF localization via semantic-geometric alignment of monocular depth and surfaces with LoD1-LoD3 city models, cutting mean positional error to 2.62m and boosting recall up to 36% on a new real-world benchmark.
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SemCityLoc: Aerial 6DoF Localization Using Semantic 3D City Models
SemCityLoc achieves aerial 6DoF localization via semantic-geometric alignment of monocular depth and surfaces with LoD1-LoD3 city models, cutting mean positional error to 2.62m and boosting recall up to 36% on a new real-world benchmark.