text: We introduce a novel strategy for learning to extract semantically meaningful features from aerial imagery. Instead of manually labeling the aerial imagery, we propose to predict (noisy) semantic features automatically extracted from co-located ground imagery. Our network architecture takes an aerial image as input, extracts features using a convolutional neural network, and then applies an adaptive transformation to map these features into the ground-level perspective. We use an end-to-end learning approach to minimize the difference between the semantic segmentation extracted directly from the ground image and the semantic segmentation predicted solely based on the aerial image. We show that a model learned using this strategy, with no additional training, is already capable of rough semantic labeling of aerial imagery. Furthermore, we demonstrate that by finetuning this model we can achieve more accurate semantic segmentation than two baseline initialization strategies. We use our network to address the task of estimating the geolocation and geoorientation of a ground image. Finally, we show how features extracted from an aerial image can be used to hallucinate a plausible ground-level panorama.
  @cite_4: In this paper we aim to determine the location and orientation of a ground-level query image by matching to a reference database of overhead (e.g. satellite) images. For this task we collect a new dataset with one million pairs of street view and overhead images sampled from eleven U.S. cities. We explore several deep CNN architectures for cross-domain matching – Classification, Hybrid, Siamese, and Triplet networks. Classification and Hybrid architectures are accurate but slow since they allow only partial feature precomputation. We propose a new loss function which significantly improves the accuracy of Siamese and Triplet embedding networks while maintaining their applicability to large-scale retrieval tasks like image geolocalization. This image matching task is challenging not just because of the dramatic viewpoint difference between ground-level and overhead imagery but because the orientation (i.e. azimuth) of the street views is unknown making correspondence even more difficult. We examine several mechanisms to match in spite of this – training for rotation invariance, sampling possible rotations at query time, and explicitly predicting relative rotation of ground and overhead images with our deep networks. It turns out that explicit orientation supervision also improves location prediction accuracy. Our best performing architectures are roughly 2.5 times as accurate as the commonly used Siamese network baseline.
  @cite_22: The recent availability of geo-tagged images and rich geospatial data has inspired a number of algorithms for image based geolocalization. Most approaches predict the location of a query image by matching to ground-level images with known locations (e.g., street-view data). However, most of the Earth does not have ground-level reference photos available. Fortunately, more complete coverage is provided by oblique aerial or “bird's eye” imagery. In this work, we localize a ground-level query image by matching it to a reference database of aerial imagery. We use publicly available data to build a dataset of 78K aligned crossview image pairs. The primary challenge for this task is that traditional computer vision approaches cannot handle the wide baseline and appearance variation of these cross-view pairs. We use our dataset to learn a feature representation in which matching views are near one another and mismatched views are far apart. Our proposed approach, Where-CNN, is inspired by deep learning success in face verification and achieves significant improvements over traditional hand-crafted features and existing deep features learned from other large-scale databases. We show the effectiveness of Where-CNN in finding matches between street view and aerial view imagery and demonstrate the ability of our learned features to generalize to novel locations.
  @cite_33: We propose to use deep convolutional neural networks to address the problem of cross-view image geolocalization, in which the geolocation of a ground-level query image is estimated by matching to georeferenced aerial images. We use state-of-the-art feature representations for ground-level images and introduce a cross-view training approach for learning a joint semantic feature representation for aerial images. We also propose a network architecture that fuses features extracted from aerial images at multiple spatial scales. To support training these networks, we introduce a massive database that contains pairs of aerial and ground-level images from across the United States. Our methods significantly out-perform the state of the art on two benchmark datasets. We also show, qualitatively, that the proposed feature representations are discriminative at both local and continental spatial scales.
  @cite_21: The recent availability of large amounts of geotagged imagery has inspired a number of data driven solutions to the image geolocalization problem. Existing approaches predict the location of a query image by matching it to a database of georeferenced photographs. While there are many geotagged images available on photo sharing and street view sites, most are clustered around landmarks and urban areas. The vast majority of the Earth's land area has no ground level reference photos available, which limits the applicability of all existing image geolocalization methods. On the other hand, there is no shortage of visual and geographic data that densely covers the Earth - we examine overhead imagery and land cover survey data - but the relationship between this data and ground level query photographs is complex. In this paper, we introduce a cross-view feature translation approach to greatly extend the reach of image geolocalization methods. We can often localize a query even if it has no corresponding ground level images in the database. A key idea is to learn the relationship between ground level appearance and overhead appearance and land cover attributes from sparsely available geotagged ground-level images. We perform experiments over a 1600 km2 region containing a variety of scenes and land cover types. For each query, our algorithm produces a probability density over the region of interest.
  @cite_3: 
  @cite_6: Each corner of the inhabited world is imaged from multiple viewpoints with increasing frequency. Online map services like Google Maps or Here Maps provide direct access to huge amounts of densely sampled, georeferenced images from street view and aerial perspective. There is an opportunity to design computer vision systems that will help us search, catalog and monitor public infrastructure, buildings and artifacts. We explore the architecture and feasibility of such a system. The main technical challenge is combining test time information from multiple views of each geographic location (e.g., aerial and street views). We implement two modules: det2geo, which detects the set of locations of objects belonging to a given category, and geo2cat, which computes the fine-grained category of the object at a given location. We introduce a solution that adapts state-of the-art CNN-based object detectors and classifiers. We test our method on "Pasadena Urban Trees", a new dataset of 80,000 trees with geographic and species annotations, and show that combining multiple views significantly improves both tree detection and tree species classification, rivaling human performance.
  @cite_24: As the availability of geotagged imagery has increased, so has the interest in geolocation-related computer vision applications, ranging from wide-area image geolocalization to the extraction of environmental data from social network imagery. Encouraged by the recent success of deep convolutional networks for learning high-level features, we investigate the usefulness of deep learned features for such problems. We compare features extracted from various layers of convolutional neural networks and analyze their discriminative ability with regards to location. Our analysis spans several problem settings, including region identification, visualizing land cover in aerial imagery, and ground-image localization in regions without ground-image reference data (where we achieve state-of-the-art performance on a benchmark dataset). We present results on multiple datasets, including a new dataset we introduce containing hundreds of thousands of ground-level and aerial images in a large region centered around San Francisco.
  @cite_15: Semantic event recognition based only on vision cues is a challenging problem. This problem is particularly acute when the application domain is unconstrained still images available on the Internet or in personal repositories. In recent years, it has been shown that metadata captured with pictures can provide valuable contextual cues complementary to the image content and can be used to improve classification performance. With the recent geotagging phenomenon, an important piece of metadata available with many geotagged pictures now on the World Wide Web is GPS information. In this study, we obtain satellite images corresponding to picture location data and investigate their novel use to recognize the picture-taking environment, as if through a third eye above the object. Additionally, we combine this inference with classical vision-based event detection methods and study the synergistic fusion of the two approaches. We employ both color- and structure-based visual vocabularies for characterizing ground and satellite images, respectively. Training of satellite image classifiers is done using a multiclass AdaBoost engine while the ground image classifiers are trained using SVMs. Modeling and prediction involve some of the most interesting semantic event-activity classes encountered in consumer pictures, including those that occur in residential areas, commercial areas, beaches, sports venues, and parks. The powerful fusion of the complementary views achieves significant performance improvement over the ground view baseline. With integrated GPS-capable cameras on the horizon, we believe that our line of research can revolutionize event recognition and media annotation in years to come.
  @cite_17: In this paper we present an approach to enhance existing maps with fine grained segmentation categories such as parking spots and sidewalk, as well as the number and location of road lanes. Towards this goal, we propose an efficient approach that is able to estimate these fine grained categories by doing joint inference over both, monocular aerial imagery, as well as ground images taken from a stereo camera pair mounted on top of a car. Important to this is reasoning about the alignment between the two types of imagery, as even when the measurements are taken with sophisticated GPS+IMU systems, this alignment is not sufficiently accurate. We demonstrate the effectiveness of our approach on a new dataset which enhances KITTI [8] with aerial images taken with a camera mounted on an airplane and flying around the city of Karlsruhe, Germany.
summary: Several methods have been recently proposed to jointly reason about co-located aerial and ground image pairs. Luo al @cite_15 demonstrate that aerial imagery can aid in recognizing the visual content of a geo-tagged ground image. M 'a ttyus al @cite_17 perform joint inference over monocular aerial imagery and stereo ground images for fine-grained road segmentation. Wegner al @cite_6 build a map of street trees. Given the horizon line and the camera intrinsics, Ghouaiel and Lef e vre @cite_3 transform geo-tagged ground-level panoramas to a top-down view to enable comparisons with aerial imagery for the task of change detection. Recent work on cross-view image geolocalization @cite_21 @cite_22 @cite_24 @cite_33 has shown that convolutional neural networks are capable of extracting features from aerial imagery that can be matched to features extracted from ground imagery. Vo al @cite_4 extend this line of work, demonstrating improved geolocalization performance by applying an auxiliary loss function to regress the ground-level camera orientation with respect to the aerial image. To our knowledge, our work is the first work to explore predicting the semantic layout of a ground image from an aerial image.