Calculating Offsets

[chiragkscr]

Hi, what's your procedure to calculate gps offsets here

[hmf21]

Hi @chiragkscr
Do you mean how we calculate the positioning error between the visual geo-localization system and the GPS ground truth?

[chiragkscr]

yes

[hmf21]

Hi @chiragkscr.
In VPR system, the geo-tags of map databases are considering as the position label of the query frame.
In VAL system, image alignment method can align the center point of the query frame to the geo-referenced map, which has latitude and longitude information. And we regard the coordinates of the center point as the position label of the query frame.

[chiragkscr]

that's nice, can u explain how are you aligning the query frame to geo-referenced map

[hmf21]

Hi @chiragkscr
We use the alignment method with deep homography estimation network.
Specifically, we apply a simple network DeepLK which can be refered to https://github.com/hmgoforth/gps-denied-uav-localization