WeatherPrompt: 全天候ドローン視覚的自己位置推定のためのマルチモーダル表現学習
WeatherPrompt: Multi-modality Representation Learning for All-Weather Drone Visual Geo-Localization
大規模マルチモーダルモデルで天候をテキスト化し、画像特徴と融合することで天候に不変なドローン位置推定を実現した研究。
詳しい要約
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2. 先行研究と比べてどこがすごい？
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著者: Jiahao Wen, Hang Yu, Zhedong Zheng
分類: cs.CV, cs.RO
原文アブストラクト
Visual geo-localization for drones faces critical degradation under weather perturbations, \eg, rain and fog, where existing methods struggle with two inherent limitations: 1) Heavy reliance on limited weather categories that constrain generalization, and 2) Suboptimal disentanglement of entangled scene-weather features through pseudo weather categories. We present WeatherPrompt, a multi-modality learning paradigm that establishes weather-invariant representations through fusing the image embedding with the text context. Our framework introduces two key contributions: First, a Training-free Weather Reasoning mechanism that employs off-the-shelf large multi-modality models to synthesize multi-weather textual descriptions through human-like reasoning. It improves the scalability to unseen or complex weather, and could reflect different weather strength. Second, to better disentangle the scene and weather feature, we propose a multi-modality framework with the dynamic gating mechanism driven by the text embedding to adaptively reweight and fuse visual features across modalities. The framework is further optimized by the cross-modal objectives, including image-text contrastive learning and image-text matching, which maps the same scene with different weather conditions closer in the respresentation space. Extensive experiments validate that, under diverse weather conditions, our method achieves competitive recall rates compared to state-of-the-art drone geo-localization methods. Notably, it improves Recall@1 by +13.37\% under night conditions and by 18.69\% under fog and snow conditions.
