WAMF-FPI: A Weight-Adaptive Multi-Feature Fusion Network for UAV Localization

Abstract

UAV localization in denial environments is a hot research topic in the field of cross-view geo-localization. The previous methods tried to find the corresponding position directly in the satellite image through the UAV image, but they lacked the consideration of spatial information and multi-scale information. Based on the method of finding points with an image, we propose a novel architecture—a Weight-Adaptive Multi-Feature fusion network for UAV localization (WAMF-FPI). We treat this positioning as a low-level task and achieve more accurate localization by restoring the feature map to the resolution of the original satellite image. Then, in order to enhance the ability of the model to solve multi-scale problems, we propose a Weight-Adaptive Multi-Feature fusion module (WAMF), which introduces a weighting mechanism to fuse different features. Finally, since all positive samples are treated in the same way in the existing methods, which is very disadvantageous for accurate localization tasks, we introduce Hanning loss to allow the model to pay more attention to the central area of the target. Our model achieves competitive results on the UL14 dataset. When using RDS as the evaluation metric, the performance of the model improves from 57.22 to 65.33 compared to Finding Point with Image (FPI). In addition, we calculate the actual distance errors (meters) to evaluate the model performance, and the localization accuracy at the 20 m level improves from 57.67% to 69.73%, showing the powerful performance of the model. Although the model shows better performance, much remains to be done before it can be applied.