Without Paired Labeled Data: An End-to-End Self-Supervised Paradigm for UAV-View Geo-Localization

UAV-View Geo-Localization (UVGL) aims to ascertain the precise location of a UAV by retrieving the most similar GPS-tagged satellite image. However, existing methods predominantly rely on supervised learning paradigms that necessitate annotated paired data for training, which incurs substantial annotation costs and impedes large-scale deployment. To overcome this limitation, we propose the Dynamic Memory-Driven and Neighborhood Information Learning (DMNIL) network, a lightweight end-to-end self-supervised framework for UAV-view geo-localization. The DMNIL framework utilizes a dual-path clustering-based contrastive learning architecture as its baseline to model intra-view structural relationships, enhancing feature consistency and discriminability. Additionally, a dynamic memory-driven hierarchical learning module is proposed to progressively mine local and global information, reinforcing multi-level feature associations to improve model robustness. To bridge the domain gap between UAV and satellite views, we design an information-consistent evolutionary learning mechanism that systematically explores latent correlations within intra-view neighborhoods and across cross-view domains, ultimately constructing a unified cross-view feature representation space. Extensive experiments on three benchmarks (University-1652, SUES-200, and DenseUAV) demonstrate that DMNIL achieves competitive performance against state-of-the-art supervised methods while maintaining computational efficiency. Notably, this superiority is attained without relying on paired training data, underscoring the framework's practicality for real-world deployment. Codes will be released soon.

Multi-Level Embedding and Alignment Network with Consistency and Invariance Learning for Cross-View Geo-Localization

Cross-View Geo-Localization (CVGL) involves determining the localization of drone images by retrieving the most similar GPS-tagged satellite images. However, the imaging gaps between platforms are often significant and the variations in viewpoints are substantial, which limits the ability of existing methods to effectively associate cross-view features and extract consistent and invariant characteristics. Moreover, existing methods often overlook the problem of increased computational and storage requirements when improving model performance. To handle these limitations, we propose a lightweight enhanced alignment network, called the Multi-Level Embedding and Alignment Network (MEAN). The MEAN network uses a progressive multi-level enhancement strategy, global-to-local associations, and cross-domain alignment, enabling feature communication across levels. This allows MEAN to effectively connect features at different levels and learn robust cross-view consistent mappings and modality-invariant features. Moreover, MEAN adopts a shallow backbone network combined with a lightweight branch design, effectively reducing parameter count and computational complexity. Experimental results on the University-1652 and SUES-200 datasets demonstrate that MEAN reduces parameter count by 62.17% and computational complexity by 70.99% compared to state-of-the-art models, while maintaining competitive or even superior performance. The codes will be released soon.

Vision-aided nonlinear control framework for shake table tests

The structural response under the earthquake excitations can be simulated by scaled-down model shake table tests or full-scale model shake table tests. In this paper, adaptive control theory is used as a nonlinear shake table control algorithm which considers the inherent nonlinearity of the shake table system and the Control-Structural Interaction (CSI) effect that the linear controller cannot consider, such as the Proportional-Integral-Derivative (PID) controller. The mass of the specimen can be assumed as an unknown variation and the unknown parameter will be replaced by an estimated value in the proposed control framework. The signal generated by the control law of the adaptive control method will be implemented by a loop-shaping controller. To verify the stability and feasibility of the proposed control framework, a simulation of a bare shake table and experiments with a bare shake table with a two-story frame were carried out. This study randomly selects Earthquake recordings from the Pacific Earthquake Engineering Research Center (PEER) database. The simulation and experimental results show that the proposed control framework can be effectively used in shake table control.

A reinforcement learning based construction material supply strategy using robotic crane and computer vision for building reconstruction after an earthquake

After an earthquake, it is particularly important to provide the necessary resources on site because a large number of infrastructures need to be repaired or newly constructed. Due to the complex construction environment after the disaster, there are potential safety hazards for human labors working in this environment. With the advancement of robotic technology and artificial intelligent (AI) algorithms, smart robotic technology is the potential solution to provide construction resources after an earthquake. In this paper, the robotic crane with advanced AI algorithms is proposed to provide resources for infrastructure reconstruction after an earthquake. The proximal policy optimization (PPO), a reinforcement learning (RL) algorithm, is implemented for 3D lift path planning when transporting the construction materials. The state and reward function are designed in detail for RL model training. Two models are trained through a loading task in different environments by using PPO algorithm, one considering the influence of obstacles and the other not considering obstacles. Then, the two trained models are compared and evaluated through an unloading task and a loading task in simulation environments. For each task, two different cases are considered. One is that there is no obstacle between the initial position where the construction material is lifted and the target position, and the other is that there are obstacles between the initial position and the target position. The results show that the model that considering the obstacles during training can generate proper actions for the robotic crane to execute so that the crane can automatically transport the construction materials to the desired location with swing suppression, short time consumption and collision avoidance.