arXiv subjects

Mengfan He

Publications and source records attributed to Mengfan He.

12 recordsLinked to original sources

arXiv2026

Towards Lifelong Aerial Autonomy: Geometric Memory Management for Continual Visual Place Recognition in Dynamic Environments

Robust geo-localization under changing environmental and operational conditions is critical for long-term aerial autonomy. Aerial visual place recognition (VPR) commonly uses pre-acquired remote-sensing imagery of the intended operating area, so the geographic label space can remain fixed while successive airborne missions introduce substantial visual distribution shifts. Continual adaptation to these shifts can cause catastrophic forgetting. We therefore formulate aerial VPR as a mission-based domain-incremental learning (DIL) problem and develop a heterogeneous memory framework. Before sequential adaptation, the satellite reference dataset is used once to train the initial model and construct a static satellite exemplar memory; a bounded replay buffer then retains selected airborne observations across missions. For replay management, we compare loss- and diversity-based selection criteria and introduce DBS-Hybrid, which combines prototype-based diversity trimming with representative-first feature-space coverage. Experiments on 21 visible and infrared UAV missions evaluate generalization to held-out missions, immediate adaptation, and knowledge retention. Under the primary Forward mission order, DBS-Hybrid achieves the highest mean final average accuracy, generalization, and knowledge retention among the evaluated methods, improving over the Random baseline by $5.06$, $5.32$, and $6.33$ percentage points, respectively, and improving backward transfer from -6.41% to 1.07%. Across five additional random mission orders, DBS-Hybrid ranks second in mean final average accuracy, backward transfer, generalization, and knowledge retention. Overall, heterogeneous memory and diversity-aware replay provide an effective basis for continual aerial VPR in mapped operating areas.

cs.RO↗

arXiv2026

CM-Bench: A Comprehensive Cross-Modal Feature Matching Benchmark Bridging Visible and Infrared Images

Infrared-visible (IR-VIS) feature matching plays an essential role in cross-modality visual localization, navigation and perception. Along with the rapid development of deep learning techniques, a number of representative image matching methods have been proposed. However, crossmodal feature matching is still a challenging task due to the significant appearance difference. A significant gap for cross-modal feature matching research lies in the absence of standardized benchmarks and metrics for evaluations. In this paper, we introduce a comprehensive cross-modal feature matching benchmark, CM-Bench, which encompasses 30 feature matching algorithms across diverse cross-modal datasets. Specifically, state-of-the-art traditional and deep learning-based methods are first summarized and categorized into sparse, semidense, and dense methods. These methods are evaluated by different tasks including homography estimation, relative pose estimation, and feature-matching-based geo-localization. In addition, we introduce a classification-network-based adaptive preprocessing front-end that automatically selects suitable enhancement strategies before matching. We also present a novel infrared-satellite cross-modal dataset with manually annotated ground-truth correspondences for practical geo-localization evaluation. The dataset and resource will be available at: https://github.com/SLZ98/CM-Bench.

cs.CV↗

arXiv2026

HE-VPR: Height Estimation Enabled Aerial Visual Place Recognition Against Scale Variance

In this work, we propose HE-VPR, a visual place recognition (VPR) framework that incorporates height estimation. Our system decouples height inference from place recognition, allowing both modules to share a frozen DINOv2 backbone. Two lightweight bypass adapter branches are integrated into our system. The first estimates the height partition of the query image via retrieval from a compact height database, and the second performs VPR within the corresponding height-specific sub-database. The adaptation design reduces training cost and significantly decreases the search space of the database. We also adopt a center-weighted masking strategy to further enhance the robustness against scale differences. Experiments on two self-collected challenging multi-altitude datasets demonstrate that HE-VPR achieves up to 6.1\% Recall@1 improvement over state-of-the-art ViT-based baselines and reduces memory usage by up to 90\%. These results indicate that HE-VPR offers a scalable and efficient solution for height-aware aerial VPR, enabling practical deployment in GNSS-denied environments. All the code and datasets for this work have been released on https://github.com/hmf21/HE-VPR.

cs.RO↗

arXiv2026

Altitude-Adaptive Vision-Only Geo-Localization for UAVs in GPS-Denied Environments

Matching downward-looking unmanned aerial vehicle (UAV) images to georeferenced satellite or aerial map tiles supports local earth observation, map-based interpretation, and coarse geo-initialization when direct positioning signals are degraded or unavailable. A major difficulty in this cross-platform matching task is the scale mismatch caused by large variations in UAV altitude. To address this problem, we propose an altitude-adaptive aerial visual place recognition framework. The method first estimates relative altitude from a single downward-looking image by transforming the input into the frequency domain and formulating altitude estimation as a regression-as-classification problem. The estimated altitude is then used to crop the query image to a canonical scale, after which a classification-then-retrieval visual place recognition module performs coarse map localization. To improve retrieval robustness under varying image quality, we further introduce a quality-adaptive margin classifier and refine the final location by weighted coordinate estimation over the top retrieved candidates. Experiments on two synthetic datasets and two real-flight datasets show that the relative altitude estimation module improves downstream retrieval performance under substantial altitude changes. With our visual place recognition module, altitude adaptation improves average R@1 and R@5 by 41.50 and 56.83 percentage points, respectively, compared with using the same retrieval pipeline without altitude normalization, and the main retrieval pipeline runs at 13.3 frames/s on the workstation used for evaluation. These results indicate that relative altitude estimation provides a useful scale prior for cross-altitude UAV-to-map image matching using georeferenced remote sensing imagery.

cs.CV↗

arXiv2026

(MGS)$^2$-Net: Unifying Micro-Geometric Scale and Macro-Geometric Structure for Cross-View Geo-Localization

Cross-view geo-localization (CVGL) is pivotal for GNSS-denied UAV navigation but remains brittle under the drastic geometric misalignment between oblique aerial views and orthographic satellite references. Existing methods predominantly operate within a 2D manifold, neglecting the underlying 3D geometry where view-dependent vertical facades (macro-structure) and scale variations (micro-scale) severely corrupt feature alignment. To bridge this gap, we propose (MGS)$^2$, a geometry-grounded framework. The core of our innovation is the Macro-Geometric Structure Filtering (MGSF) module. Unlike pixel-wise matching sensitive to noise, MGSF leverages dilated geometric gradients to physically filter out high-frequency facade artifacts while enhancing the view-invariant horizontal plane, directly addressing the domain shift. To guarantee robust input for this structural filtering, we explicitly incorporate a Micro-Geometric Scale Adaptation (MGSA) module. MGSA utilizes depth priors to dynamically rectify scale discrepancies via multi-branch feature fusion. Furthermore, a Geometric-Appearance Contrastive Distillation (GACD) loss is designed to strictly discriminate against oblique occlusions. Extensive experiments demonstrate that (MGS)$^2$ achieves state-of-the-art performance, recording a Recall@1 of 97.5\% on University-1652 and 97.02\% on SUES-200. Furthermore, the framework exhibits superior cross-dataset generalization against geometric ambiguity. The code is available at: \href{https://github.com/GabrielLi1473/MGS-Net}{https://github.com/GabrielLi1473/MGS-Net}.

cs.CV↗

arXiv2026

HomoFM: Deep Homography Estimation with Flow Matching

Deep homography estimation has broad applications in computer vision and robotics. Remarkable progresses have been achieved while the existing methods typically treat it as a direct regression or iterative refinement problem and often struggling to capture complex geometric transformations or generalize across different domains. In this work, we propose HomoFM, a new framework that introduces the flow matching technique from generative modeling into the homography estimation task for the first time. Unlike the existing methods, we formulate homography estimation problem as a velocity field learning problem. By modeling a continuous and point-wise velocity field that transforms noisy distributions into registered coordinates, the proposed network recovers high-precision transformations through a conditional flow trajectory. Furthermore, to address the challenge of domain shifts issue, e.g., the cases of multimodal matching or varying illumination scenarios, we integrate a gradient reversal layer (GRL) into the feature extraction backbone. This domain adaptation strategy explicitly constrains the encoder to learn domain-invariant representations, significantly enhancing the network's robustness. Extensive experiments demonstrate the effectiveness of the proposed method, showing that HomoFM outperforms state-of-the-art methods in both estimation accuracy and robustness on standard benchmarks. Code and data resource are available at https://github.com/hmf21/HomoFM.

cs.CV↗

arXiv2025

A candidate field for deep imaging of the Epoch of Reionization observed with MWA

Deep imaging of structures from the Cosmic Dawn (CD) and the Epoch of Reionization (EoR) in five targeted fields is one of the highest priority scientific objectives for the Square Kilometre Array (SKA). Selecting 'quiet' fields, which allow deep imaging, is critical for future SKA CD/EoR observations. Pre-observations using existing radio facilities will help estimate the computational capabilities required for optimal data quality and refine data reduction techniques. In this study, we utilize data from the Murchison Widefield Array (MWA) Phase II extended array for a selected field to study the properties of foregrounds. We conduct deep imaging across two frequency bands: 72-103 MHz and 200-231 MHz. We identify up to 2,576 radio sources within a 5-degree radius of the image center (at RA (J2000) $8^h$ , Dec (J2000) 5{\deg}), achieving approximately 80% completeness at 7.7 mJy and 90% at 10.4 mJy for 216 MHz, with a total integration time of 4.43 hours and an average RMS of 1.80 mJy. Additionally, we apply a foreground removal algorithm using Principal Component Analysis (PCA) and calculate the angular power spectra of the residual images. Our results indicate that nearly all resolved radio sources can be successfully removed using PCA, leading to a reduction in foreground power. However, the angular power spectra of the residual map remains over an order of magnitude higher than the theoretically predicted CD/EoR 21 cm signal. Further improvements in data reduction and foreground subtraction techniques will be necessary to enhance these results.

astro-ph.IM↗

arXiv2024

MUltiplexed Survey Telescope (MUST) Science White Paper I: Overview of Large-Scale Structure Cosmology in the Era of Stage-V Spectroscopic Surveys

The MUltiplexed Survey Telescope (MUST) is a 6.5-meter telescope under development. Dedicated to highly-multiplexed, wide-field spectroscopic surveys, MUST observes over 20,000 targets simultaneously using 6.2-mm pitch positioning robots within a ~5 deg$^2$ field of view. MUST aims to conduct the first Stage-V spectroscopic survey in the 2030s, mapping the 3D Universe with over 100 million galaxies and quasars, spanning from the nearby Universe to a redshift of z ~ 5.5, corresponding to approximately 1 billion years after the Big Bang. To cover this extensive redshift range, we present an initial conceptual target selection algorithm for different types of galaxies, ranging from local bright galaxies and luminous red galaxies to emission-line galaxies, and high-redshift (2 < z < 5.5) Lyman-break galaxies. Using Fisher forecasts, we demonstrate that MUST can address fundamental questions in cosmology, including the nature of dark energy, tests of gravity theories, and investigations into primordial physics. This is the first paper in the series of science white papers for MUST, with subsequent developments focusing on additional scientific cases such as galaxy and quasar evolution, Milky Way physics, and dynamic phenomena in the time-domain Universe.

astro-ph.CO↗

arXiv2024

CURLING - I. The Influence of Point-like Image Approximation on the Outcomes of Cluster Strong Lens Modeling

Cluster-scale strong lensing is a powerful tool for exploring the properties of dark matter and constraining cosmological models. However, due to the complex parameter space, pixelized strong lens modeling in galaxy clusters is computationally expensive, leading to the point-source approximation of strongly lensed extended images, potentially introducing systematic biases. Herein, as the first paper of the ClUsteR strong Lens modelIng for the Next-Generation observations (CURLING) program, we use lensing ray-tracing simulations to quantify the biases and uncertainties arising from the point-like image approximation for JWST-like observations. Our results indicate that the approximation works well for reconstructing the total cluster mass distribution, but can bias the magnification measurements near critical curves and the constraints on the cosmological parameters, the total matter density of the Universe $\Omega_{\rm m}$, and dark energy equation of state parameter $w$. To mitigate the biases, we propose incorporating the extended surface brightness distribution of lensed sources into the modeling. This approach reduces the bias in magnification from 46.2 per cent to 0.09 per cent for $\mu \sim 1000$. Furthermore, the median values of cosmological parameters align more closely with the fiducial model. In addition to the improved accuracy, we also demonstrate that the constraining power can be substantially enhanced. In conclusion, it is necessary to model cluster-scale strong lenses with pixelized multiple images, especially for estimating the intrinsic luminosity of highly magnified sources and accurate cosmography in the era of high-precision observations.

astro-ph.CO↗

arXiv2024

Influence of sources with a spectral peak in the detection of Cosmic Dawn and Epoch of Reionization

Foreground removal is one of the biggest challenges in the detection of the Cosmic Dawn (CD) and Epoch of Reionization (EoR). Various foreground subtraction techniques have been developed based on the spectral smoothness of foregrounds. However, the sources with a spectral peak (SP) at Megahertz may break down the spectral smoothness at low frequencies (< 1000 MHz). In this paper, we cross-match the GaLactic and Extragalactic All-sky Murchison Widefield Array (GLEAM) extragalactic source catalogue with three other radio source catalogues, covering the frequency range from 72 MHz to 1.4 GHz, to search for sources with spectral turnover. 4,423 sources from the GLEAM catalogue are identified as SP sources, representing approximately 3.2 per cent of the GLEAM radio source population. We utilize the properties of SP source candidates obtained from real observations to establish simulations and test the impact of SP sources on the extraction of CD/EoR signals. We statistically compare the differences introduced by SP sources in the residuals after removing the foregrounds with three methods, which are polynomial fitting, Principal Component Analysis (PCA), and fast independent component analysis (FastICA). Our results indicate that the presence of SP sources in the foregrounds has a negligible influence on extracting the CD/EoR signal. After foreground subtraction, the contribution from SP sources to the total power in the two-dimensional (2D) power spectrum within the EoR window is approximately 3 to 4 orders of magnitude lower than the CD/EoR signal.

astro-ph.CO↗

arXiv2023

Cosmological constraints with the linear point from the BOSS survey

The {\it Linear Point} (LP), defined as the midpoint between the BAO peak and the associated left dip of the two-point correlation function (2PCF), $ξ(s)$, is proposed as a new standard ruler which is insensitive to nonlinear effects. In this paper, we use a Bayesian sampler to measure the LP and estimate the corresponding statistical uncertainty, and then perform cosmological parameter constraints with LP measurements. Using the Patchy mock catalogues, we find that the measured LPs are consistent with theoretical predictions at 0.6 per cent level. We find constraints with midpoints identified from the rescaled 2PCF ($s^2 ξ$) more robust than those from the traditional LP based on $ξ$, as the BAO peak is not always prominent when scanning the cosmological parameter space, with the cost of 2--4 per cent increase of statistical uncertainty. This problem can also be solved by an additional dataset that provides strong parameter constraints. Measuring LP from the reconstructed data slightly increases the systematic error but significantly reduces the statistical error, resulting in more accurate measurements. The 1$\,σ$ confidence interval of distance scale constraints from LP measurements are 20--30 per cent larger than those of the corresponding BAO measurements. For the reconstructed SDSS DR12 data, the constraints on $H_0$ and $Ω_{\rm m}$ in a flat-$Λ$CDM framework with the LP are generally consistent with those from BAO. When combined with Planck cosmic microwave background data, we obtain $H_0=68.02_{-0.37}^{+0.36}$ ${\rm km}\,{\rm s}^{-1}\,{\rm Mpc}^{-1}$ and $Ω_{\rm m}=0.3055_{-0.0048}^{+0.0049}$ with the LP.

astro-ph.CO↗

arXiv2022

The completed SDSS-IV extended Baryon Oscillation Spectroscopic Survey: Cosmological implications from multi-tracer BAO analysis with galaxies and voids

We construct cosmic void catalogues with the DIVE void finder upon SDSS BOSS DR12 and eBOSS DR16 galaxy samples with BAO reconstruction applied, and perform a joint BAO analysis using different types of galaxies and the corresponding voids. The BAO peak is evident for the galaxy-galaxy, galaxy-void, and void-void correlation functions of all datasets, including the ones cross correlating luminous red galaxy and emission line galaxy samples. Two multi-tracer BAO fitting schemes are then tested, one combining the galaxy and void correlation functions with a weight applied to voids, and the other using a single BAO dilation parameter for all clustering measurements of different tracers. Both methods produce consistent results with mock catalogues, and on average ~10 per cent improvements of the BAO statistical uncertainties are observed for all samples, compared to the results from galaxies alone. By combining the clustering of galaxies and voids, the uncertainties of BAO measurements from the SDSS data are reduced by 5 to 15 per cent, yielding 0.9, 0.8, 1.1, 2.3, and 2.9 per cent constraints on the distance $D_{_{\rm V}}(z)$, at effective redshifts of 0.38, 0.51, 0.70, 0.77, and 0.85, respectively. When combined with BAO measurements from SDSS MGS, QSO, and Ly$α$ samples, as well as the BBN results, we obtain $H_0 = 67.58 \pm 0.91\,{\rm km}\,{\rm s}^{-1}\,{\rm Mpc}^{-1}$, $Ω_{\rm m} = 0.290 \pm 0.015$, and $Ω_Λh^2 = 0.3241 \pm 0.0079$ in the flat-$Λ$CDM framework, where the 1$\,σ$ uncertainties are around 6, 6, and 17 per cent smaller respectively, compared to constraints from the corresponding anisotropic BAO measurements without voids and LRG-ELG cross correlations.

astro-ph.CO↗