{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/geodistill-geometry-guided-self-distillation","title":"GeoDistill: Geometry-Guided Self-Distillation for Weakly Supervised Cross-View Localization","arxiv_id":"2507.10935","date":"2025-07-15","proceeding":null,"authors":["Shaowen Tong","Zimin Xia","Alexandre Alahi","Xuming He","Yujiao Shi"],"abstract":"Cross-view localization, the task of estimating a camera's 3-degrees-of-freedom (3-DoF) pose by aligning ground-level images with satellite images, is crucial for large-scale outdoor applications like autonomous navigation and augmented reality. Existing methods often rely on fully supervised learning, which requires costly ground-truth pose annotations. In this work, we propose GeoDistill, a Geometry guided weakly supervised self distillation framework that uses teacher-student learning with Field-of-View (FoV)-based masking to enhance local feature learning for robust cross-view localization. In GeoDistill, the teacher model localizes a panoramic image, while the student model predicts locations from a limited FoV counterpart created by FoV-based masking. By aligning the student's predictions with those of the teacher, the student focuses on key features like lane lines and ignores textureless regions, such as roads. This results in more accurate predictions and reduced uncertainty, regardless of whether the query images are panoramas or limited FoV images. Our experiments show that GeoDistill significantly improves localization performance across different frameworks. Additionally, we introduce a novel orientation estimation network that predicts relative orientation without requiring precise planar position ground truth. GeoDistill provides a scalable and efficient solution for real-world cross-view localization challenges. Code and model can be found at https://github.com/tongshw/GeoDistill.","url_abs":"https://arxiv.org/abs/2507.10935v1","url_pdf":"https://arxiv.org/pdf/2507.10935v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"geodistill-geometry-guided-self-distillation","repo_url":"https://github.com/tongshw/geodistill","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"autonomous-navigation","task_name":"Autonomous Navigation"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2507.10935","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2507.10935"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. Samples come from repositories linked to the paper, official or community; repo_kind says which.","repos":[{"provenance":"deterministic:regex_extraction","url":"https://github.com/tongshw/GeoDistill","reach":null}],"summary":{"ran":5,"ran_fixture":1,"ran_honours":1,"unverified":2},"by_repo_kind":{"official":{"samples":9,"ran":7,"repositories":1}},"repo_kind_vocabulary":{"official":"The archive marks this repository official for the paper","named_in_paper":"The archive records that the paper mentions this repository; it is not marked official","listed":"In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper","found_in_text":"Syntology found this repository in the paper's own text; whether it is the authors' implementation is not asserted","community":"Not in the archive's code links for this paper; a community repository Syntology harvested"},"n_pointer_only_for_licence":9,"samples":[{"code_sha256_prefix":"050433f6406139d8","entry":"DPT","repo":"tongshw/GeoDistill","repo_kind":"official","path":"model/network_kitti_dino.py","file_url":"https://github.com/tongshw/GeoDistill/blob/HEAD/model/network_kitti_dino.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"050433f6406139d8"}},{"code_sha256_prefix":"d4bdde15bd35a057","entry":"FeatureFusionBlock","repo":"tongshw/GeoDistill","repo_kind":"official","path":"model/network_kitti_dino.py","file_url":"https://github.com/tongshw/GeoDistill/blob/HEAD/model/network_kitti_dino.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"d4bdde15bd35a057"}},{"code_sha256_prefix":"6c574d96f0225271","entry":"L2_norm","repo":"tongshw/GeoDistill","repo_kind":"official","path":"model/network_kitti_dino.py","file_url":"https://github.com/tongshw/GeoDistill/blob/HEAD/model/network_kitti_dino.py","link_basis":"first_harvest_node","language":"python","status":"ran_fixture","verification_level":1,"contract_check":"RAISES","metamorphic_tier":null,"behaviour_fingerprint":true,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"6c574d96f0225271"}},{"code_sha256_prefix":"73e978e2987308a4","entry":"ResidualConvUnit","repo":"tongshw/GeoDistill","repo_kind":"official","path":"model/network_kitti_dino.py","file_url":"https://github.com/tongshw/GeoDistill/blob/HEAD/model/network_kitti_dino.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":"invariant","behaviour_fingerprint":true,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"73e978e2987308a4"}},{"code_sha256_prefix":"b5948738f251283b","entry":"get_camera_height","repo":"tongshw/GeoDistill","repo_kind":"official","path":"model/network_kitti_dino.py","file_url":"https://github.com/tongshw/GeoDistill/blob/HEAD/model/network_kitti_dino.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"b5948738f251283b"}},{"code_sha256_prefix":"94133808ae06442e","entry":"get_meter_per_pixel","repo":"tongshw/GeoDistill","repo_kind":"official","path":"model/network_kitti_dino.py","file_url":"https://github.com/tongshw/GeoDistill/blob/HEAD/model/network_kitti_dino.py","link_basis":"first_harvest_node","language":"python","status":"ran_honours","verification_level":1,"contract_check":"HONOURS","metamorphic_tier":null,"behaviour_fingerprint":true,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"94133808ae06442e"}},{"code_sha256_prefix":"f9b70a9d696e63b2","entry":"get_process_satmap_sidelength","repo":"tongshw/GeoDistill","repo_kind":"official","path":"model/network_kitti_dino.py","file_url":"https://github.com/tongshw/GeoDistill/blob/HEAD/model/network_kitti_dino.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"f9b70a9d696e63b2"}},{"code_sha256_prefix":"2e1877fbe31e8d49","entry":"LocalizationNet","repo":"tongshw/GeoDistill","repo_kind":"official","path":"model/network_kitti_dino.py","file_url":"https://github.com/tongshw/GeoDistill/blob/HEAD/model/network_kitti_dino.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"2e1877fbe31e8d49"}},{"code_sha256_prefix":"1aebf5359f29a756","entry":"grid_sample","repo":"tongshw/GeoDistill","repo_kind":"official","path":"model/network_kitti_dino.py","file_url":"https://github.com/tongshw/GeoDistill/blob/HEAD/model/network_kitti_dino.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"1aebf5359f29a756"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}