航空学报2025，Vol.46Issue(23)：119-130,12.DOI:10.7527/S1000-6893.2025.32457
基于双分支特征聚合的无人机视觉位置识别
Dual-branch feature aggregation for UAV visual place recognition
摘要
Abstract
UAVs'reliance on Global Navigation Satellite Systems(GNSS)for navigation and positioning is prone to failure due to signal blockage or interference.Visual Place Recognition(VPR)enables geographic localization by matching the visual information captured by UAVs with pre-built map data,providing reliable positioning information in GNSS-denied environments,and thus become a research hotspot in recent years.Traditional VPR methods typically depend on pre-trained networks to extract global features for matching and retrieval,but they are sensitive to changes in visual appearance such as viewpoint,scale,and lighting,and are prone to losing fine-grained information.To ad-dress these issues,this paper proposes a UAV visual geo-localization method based on a dual-branch feature aggre-gation network that combines a pre-trained Vision Transformer model and a state-space model to extract more robust features.Specifically,a dual-branch feature extraction network integrating the DINOv2 and VMamba models is de-signed,which leverages the global semantic understanding of ViT and the local dynamic modeling capability of the vi-sual state-space model to achieve stronger generalization and fine-grained perception.Additionally,the method intro-duces an efficient feature fusion framework inspired by the MLP-Mixer architecture to enhance the performance of multi-channel feature representation.Experiments conducted on the same-view ALTO dataset and the cross-view VIGOR dataset demonstrate that the proposed method achieves high accuracy in metrics such as R@1 and R@5,outper-forming existing methods.This method is proved effective in identifying matching images in different scenarios.关键词
无人机视觉位置识别/视觉匹配定位/状态空间模型/双分支特征提取/图像检索Key words
UAV visual place recognition/visual matching localization/state-space model/dual-branch feature ex-traction/image retrieval分类
航空航天引用本文复制引用
LIU Qi,PEI Zhixiang,HUI Le,HE Mingyi,DAI Yuchao..基于双分支特征聚合的无人机视觉位置识别[J].航空学报,2025,46(23):119-130,12.基金项目
国家自然科学基金(62271410,12150007) National Natural Science Foundation of China(62271410,12150007) （62271410,12150007）
