BEV-LOC: Real-Time and Lightweight Cross-View Localization via Online BEV Mapping

Jiyong Kwag, Charles Toth, Alper Yılmaz

Abstract. This paper presents a deep learning and classical computer vision framework for cross-view geolocalization using 360-degree multi-perspective view (PV) images and an offline global map. Recent studies on cross-view geolocalization typically rely on deep learning models to localize panoramic PV images by matching them with reference satellite imagery. However, such approaches face practical limitations in real-world deployments, due to their dependence on large-scale GPU resources and the need to store extensive satellite image datasets. To address these challenges, we propose BEV-LOC, a lightweight and real-time cross-view geolocalization method. BEV-LOC employs Bird’s Eye View (BEV) encoder that learns to transform 360-degree multi-PV images into a local high-definition (HD) BEV map. The localization is then performed using Intersection Over Union (IoU)-based template matching with an offline global map. Our architecture achieves real-time performance at 30 FPS without the need for high-end GPU hardware and delivers a high positioning accuracy of 1.2 meters.