SAW Lab（SeekAnyWhere）

系统工程学院

国防科技大学

实验室简介

欢迎访问 SAW Lab（SeekAnyWhere）实验室主页。我们隶属于国防科技大学系统工程学院，长期从事 3D 计算机视觉研究，重点关注全球数字孪生、无 GPS 依赖的无人机定位与物理驱动的多模态仿真三个方向。实验室绝大多数成果均已开源，欢迎访问 Github 主页了解我们的项目。

加入我们：我们长期招收有自驱力的研究生与博士后，如果你有兴趣与我们合作，欢迎写信至此邮箱。

新闻动态

[2026/09] GeoXel 被 CoRL 2026 录用

[2026/06] AV2T-Gen 被 ECCV 2026 录用

[2026/06] ThermoGS 被 ECCV 2026 录用

[2026/06] AirZoo 被 ECCV 2026 录用

[2026/05] FCP-SatMVS 被 ICME 2026 录用

[2026/04] PiLoT 入选 CVPR 2026 Highlight 🌟

[2026/03] Local Precise Refinement 被 CVPR 2026 录用

[2026/03] LoD-Loc v3 被 CVPR 2026 录用

[2026/03] AerialExtreMatch 被 IEEE RA-L 2026 录用

[2026/03] PiLoT 被 CVPR 2026 录用

[2026/01] NGC-GeoLoc 被 IEEE RA-L 2026 录用

[2026/01] 3-D Thermal City Reconstruction 被 IEEE TGRS 2026 录用

[2026/01] Cross-SPECL 被 IEEE TGRS 2026 录用

[2025/07] UAV-GeoLoc 被 IEEE RA-L 2025 录用

[2025/07] LoD-Loc v2 被 ICCV 2025 录用

[2025/03] NTR-Gaussian 被 CVPR 2025 录用

[2025/02] ThermalGS 被 Remote Sensing 2025 录用

更多动态

研究方向

本实验室聚焦 三维地理空间智能，围绕以下三个方向展开研究：

‌●‌ 无 GPS 依赖的无人机定位 —— 在 GPS 拒止环境中，让无人机借助各类地图表示（纹理模型、白模、DOM+DSM、DOM+DEM 等）完成地理定位与导航。

‌●‌ 全球数字孪生 —— 对地球表面进行精确、照片级真实、带语义的实时三维重建，支撑智能路径规划、装备与目标定位以及地理空间分析。

‌●‌ 物理驱动的多模态仿真 —— 通过传感器仿真（RGB、热红外、LiDAR 等）构建沉浸式虚拟环境，服务于无人机感知、规划与定位训练。

展开研究进展

代表成果

GeoXel: Geographic Per-pixel 3D Mapping from Aerial Video in the Wild

Zeyu Cui, Maojun Zhang, Shuaibang Peng, Shen Yan†, Yu Liu

CoRL 2026

@inproceedings{cui2026geoxel,
  title     = {{GeoXel}: Geographic Per-pixel 3D Mapping from Aerial Video in the Wild},
  author    = {Cui, Zeyu and Zhang, Maojun and Peng, Shuaibang and Yan, Shen and Liu, Yu},
  booktitle = {The Conference on Robot Learning (CoRL)},
  year      = {2026},
  url       = {https://nudt-sawlab.github.io/GeoXel/}
}

AV2T-Gen: Aerial Visible to Thermal Generation with Environment and Vehicle State Guidance

Kun Yang, Yuxiang Liu, Yihan Wang, Shen Yan, Maojun Zhang, Yu Liu†, Xue Wang, Qing Wang

ECCV 2026

ThermoGS: Decoupling Physical Surface Attributes for Spatio-Temporal Thermal Field Emulation via 4D Gaussian Splatting

Kun Yang, Yuxiang Liu, Zeyu Cui, Shen Yan, Maojun Zhang, Yu Liu, Xue Wang†, Qing Wang

ECCV 2026

AirZoo: A Unified Large-Scale Dataset for Grounding Aerial Geometric 3D Vision

Xiaoya Cheng*, Rouwan Wu*, Xinyi Liu*, Zeyu Cui*, Yan Liu*, Na Zhao, Yu Liu, Maojun Zhang, Shen Yan†

ECCV 2026

@article{cheng2026airzoo,
  author  = {Cheng, Xiaoya and Wu, Rouwan and Liu, Xinyi and Cui, Zeyu and Liu, Yan and Zhao, Na and Liu, Yu and Zhang, Maojun and Yan, Shen},
  title   = {AirZoo: A Unified Large-Scale Dataset for Grounding Aerial Geometric 3D Vision},
  journal = {arXiv preprint arXiv:2604.26567},
  year    = {2026},
  url     = {https://arxiv.org/abs/2604.26567}
}

Local Precise Refinement: A Dual-Gated Mixture-of-Experts for Enhancing Foundation Model Generalization against Spectral Shifts

Xi Chen, Maojun Zhang, Yu Liu, Shen Yan†

CVPR 2026

@misc{chen2026localpreciserefinementdualgated,
      title={Local Precise Refinement: A Dual-Gated Mixture-of-Experts for Enhancing Foundation Model Generalization against Spectral Shifts}, 
      author={Xi Chen and Maojun Zhang and Yu Liu and Shen Yan},
      year={2026},
      eprint={2603.13352},
      archivePrefix={arXiv},
      url={https://arxiv.org/abs/2603.13352}, 
}

FCP-SatMVS: Feature-Context-Progressive Network for Robust Satellite Digital Surface Model

Jinyu Liang, Xiaoran Zhang, Shen Yan, Huaxin Xiao†

ICME 2026

LoD-Loc v3: Generalized Aerial Localization in Dense Cities using Instance Silhouette Alignment

Shuaibang Peng, Juelin Zhu†, Xia Li, Kun Yang, Maojun Zhang, Yu Liu, Shen Yan†

CVPR 2026

@article{peng2026lodlocv3generalizedaerial,
  title={{LoD-Loc} v3: Generalized Aerial Localization in Dense Cities using Instance Silhouette Alignment},
  author={Peng, Shuaibang and Zhu, Juelin and Li, Xia and Yang, Kun and Zhang, Maojun and Liu, Yu and Yan, Shen},
  journal={arXiv preprint arXiv:2603.19609},
  year={2026}
}

PiLoT: Neural Pixel-to-3D Registration for UAV-based Ego and Target Geo-localization

Xiaoya Cheng, Long Wang, Yan Liu, Xinyi Liu, Hanlin Tan, Yu Liu, Maojun Zhang, Shen Yan†

CVPR 2026

@inproceedings{cheng2026pilot,
  author    = {Cheng, Xiaoya and Wang, Long and Liu, Yan and Liu, Xinyi and Tan, Hanlin and Liu, Yu and Zhang, Maojun and Yan, Shen},
  title     = {PiLoT: Neural Pixel-to-3D Registration for UAV-based Ego and Target Geo-localization},
  booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
  year      = {2026},
}

AerialExtreMatch: A Benchmark for Extreme-View Image Matching and Localization

Rouwan Wu, Zhe Huang, Xingyi He, Yan Liu, Shen Yan, Sida Peng, Maojun Zhang†, Xiaowei Zhou†

RA-L 2026

@article{wu2026aerialextrematch,
  title   = {AerialExtreMatch: A Benchmark for Extreme-View Image Matching and Localization},
  author  = {Wu, Rouwan and Huang, Zhe and He, Xingyi and Liu, Yan and Yan, Shen and Peng, Sida and Zhang, Maojun and Zhou, Xiaowei},
  journal = {IEEE Robotics and Automation Letters},
  year    = {2026},
  doi     = {10.1109/LRA.2026.3673915}
}

NGC-GeoLoc: Neural GeoCoordinate Regression for GPS-Denied UAV Geo-Localization

Jiacheng Deng, Rouwan Wu, Maojun Zhang, Shen Yan†

RA-L 2026

@ARTICLE{11355838,
  author={Deng, Jiacheng and Wu, Rouwan and Zhang, Maojun and Yan, Shen},
  journal={IEEE Robotics and Automation Letters}, 
  title={NGC-GeoLoc: Neural GeoCoordinate Regression for GPS-Denied UAV Geo-Localization}, 
  year={2026},
  volume={11},
  number={3},
  pages={3510-3517},
  keywords={Autonomous aerial vehicles;Satellites;Satellite images;Location awareness;Databases;Pipelines;Crops;Training;Three-dimensional displays;Benchmark testing;Localization;recognition;vision-based navigation},
  doi={10.1109/LRA.2026.3655216}}

3-D Thermal City Reconstruction via Thermal Mapping With RGB-Mesh Guidance

Yuxiang Liu, Shen Yan, Maojun Zhang, Rouwan Wu, Huaxin Xiao, Yu Liu

TGRS 2026

@ARTICLE{11345331,
  author={Liu, Yuxiang and Yan, Shen and Zhang, Maojun and Wu, Rouwan and Xiao, Huaxin and Liu, Yu},
  journal={IEEE Transactions on Geoscience and Remote Sensing}, 
  title={3-D Thermal City Reconstruction via Thermal Mapping With RGB-Mesh Guidance}, 
  year={2026},
  volume={64},
  number={},
  pages={1-14},
  keywords={Three-dimensional displays;Solid modeling;Image reconstruction;Point cloud compression;Cameras;Accuracy;Urban areas;Thermal sensors;Data models;Buildings;3-D thermal model;thermal mapping;thermal photogrammetry;visible-thermal image matching},
  doi={10.1109/TGRS.2026.3652584}}

Cross-SPECL: Cross-Scene Hyperspectral Image Classification via Spectral Stability Exploiting and Causal Learning

Xi Chen, Maojun Zhang, Yuxiang Liu, Chen Chen, Shen Yan†

TGRS 2026

@ARTICLE{11397394,
  author={Chen, Xi and Zhang, Maojun and Liu, Yuxiang and Chen, Chen and Yan, Shen},
  journal={IEEE Transactions on Geoscience and Remote Sensing}, 
  title={Cross-SPECL: Cross-Scene Hyperspectral Image Classification via Spectral Stability Exploiting and Causal Learning}, 
  year={2026},
  volume={64},
  number={},
  pages={1-15},
  keywords={Prototypes;Contrastive learning;Feature extraction;Perturbation methods;Training;Semantics;Hyperspectral imaging;Correlation;Frequency-domain analysis;Data models;Causal inference;directed acyclic graph (DAG);hyperspectral image (HSI);prototype contrastive learning (PCL);supervised contrastive learning (SCL)},
  doi={10.1109/TGRS.2026.3665206}}

UAV-GeoLoc: A Large-vocabulary Dataset and Geometry-Transformed Method for UAV Geo-Localization

Rouwan Wu, Jiacheng Deng, Mingyu Mou, Xingyi He, Maojun Zhang, Yu Liu, Shen Yan†

RA-L 2025

@ARTICLE{11077664,
  author={Wu, Rouwan and Deng, Jiacheng and Mou, Mingyu and He, Xingyi and Zhang, Maojun and Liu, Yu and Yan, Shen},
  journal={IEEE Robotics and Automation Letters}, 
  title={UAV-GeoLoc: A Large-vocabulary Dataset and Geometry-Transformed Method for UAV Geo-Localization}, 
  year={2025},
  volume={},
  number={},
  pages={1-8},
  keywords={Autonomous aerial vehicles;Satellites;Urban areas;Satellite images;Training;Drones;Location awareness;Large language models;Engines;Data mining;Localization;recognition;vision-based navigation},
  doi={10.1109/LRA.2025.3588061}}

LoD-Loc v2: Aerial Visual Localization over Low Level-of-Detail City Models using Explicit Silhouette Alignment

Juelin Zhu, Shuaibang Peng, Long Wang, Hanlin Tan, Yu Liu, Maojun Zhang, Shen Yan†

ICCV 2025

@InProceedings{Zhu_2025_ICCV,
    author    = {Zhu, Juelin and Peng, Shuaibang and Wang, Long and Tan, Hanlin and Liu, Yu and Zhang, Maojun and Yan, Shen},
    title     = {LoD-Loc v2: Aerial Visual Localization over Low Level-of-Detail City Models using Explicit Silhouette Alignment},
    booktitle = {Proceedings of the IEEE/CVF International Conference on Computer Vision (ICCV)},
    month     = {October},
    year      = {2025},
    pages     = {26610-26621}
}

NTR-Gaussian: Nighttime Dynamic Thermal Reconstruction with 4D Gaussian Splatting Based on Thermodynamics

Kun Yang*, Yuxiang Liu*, Zeyu Cui, Yu Liu†, Maojun Zhang, Shen Yan, Qing Wang†

CVPR 2025

@inproceedings{yang2025ntr,
  title={NTR-Gaussian: Nighttime Dynamic Thermal Reconstruction with 4D Gaussian Splatting Based on Thermodynamics},
  author={Yang, Kun and Liu, Yuxiang and Cui, Zeyu and Liu, Yu and Zhang, Maojun and Yan, Shen and Wang, Qing},
  booktitle={Proceedings of the Computer Vision and Pattern Recognition Conference},
  pages={691--700},
  year={2025}
}

ThermalGS: Dynamic 3D Thermal Reconstruction with Gaussian Splatting

Yuxiang Liu, Xi Chen, Shen Yan, Zeyu Cui, Huaxin Xiao, Yu Liu, Maojun Zhang†

Remote Sensing 2025

@article{thermalgs2025,
AUTHOR = {Liu, Yuxiang and Chen, Xi and Yan, Shen and Cui, Zeyu and Xiao, Huaxin and Liu, Yu and Zhang, Maojun},
TITLE = {ThermalGS: Dynamic 3D Thermal Reconstruction with Gaussian Splatting},
JOURNAL = {Remote Sensing},
VOLUME = {17},
YEAR = {2025},
NUMBER = {2},
ARTICLE-NUMBER = {335},
URL = {https://www.mdpi.com/2072-4292/17/2/335},
ISSN = {2072-4292},
DOI = {10.3390/rs17020335}
}

LoD-Loc: Aerial Visual Localization using LoD 3D Map with Neural Wireframe Alignment

Juelin Zhu*, Shen Yan*, Long Wang, Shengyue Zhang, Yu Liu, Maojun Zhang†

NeurIPS 2024

@inproceedings{zhu2024lod,
  title={LoD-Loc: aerial visual localization using LoD 3D map with neural wireframe alignment},
  author={Zhu, Juelin and Yan, Shen and Wang, Long and Zhang, Shengyue and Liu, Yu and Zhang, Maojun},
  booktitle={Proceedings of the 38th International Conference on Neural Information Processing Systems},
  pages={119063--119098},
  year={2024}
}

Spectral–spatial Adversarial Multidomain Synthesis Network for Cross-scene Hyperspectral Image Classification

Xi Chen, Lin Gao, Maojun Zhang†, Chen Chen, Shen Yan

TGRS 2024

@article{chen2024spectral,
  title={Spectral--spatial adversarial multidomain synthesis network for cross-scene hyperspectral image classification},
  author={Chen, Xi and Gao, Lin and Zhang, Maojun and Chen, Chen and Yan, Shen},
  journal={IEEE Transactions on Geoscience and Remote Sensing},
  volume={62},
  pages={1--16},
  year={2024},
  publisher={IEEE}
}

Target Detection With Spectral Graph Contrast Clustering Assignment and Spectral Graph Transformer in Hyperspectral Imagery

Xi Chen, Maojun Zhang†, Yu Liu

TGRS 2024

@article{chen2024target,
  title={Target detection with spectral graph contrast clustering assignment and spectral graph transformer in hyperspectral imagery},
  author={Chen, Xi and Zhang, Maojun and Liu, Yu},
  journal={IEEE Transactions on Geoscience and Remote Sensing},
  volume={62},
  pages={1--16},
  year={2024},
  publisher={IEEE}
}

UAVD4L:A Large-Scale Dataset for UAV 6-DoF Localization

Rouwan Wu*, Xiaoya Cheng*, Juelin Zhu, Yuxiang Liu, Maojun Zhang†, Shen Yan

3DV 2024

@inproceedings{wu2024uavd4l,
  title={UAVD4L: A Large-Scale Dataset for UAV 6-DoF Localization},
  author={Wu, Rouwan and Cheng, Xiaoya and Zhu, Juelin and Liu, Yuxiang and Zhang, Maojun and Yan, Shen},
  booktitle={2024 International Conference on 3D Vision (3DV)},
  pages={1574--1583},
  year={2024},
  organization={IEEE}
}

ATLoc: Aerial Thermal Images Localization via View Synthesis

Yuxiang Liu*, Rouwan Wu*, Shen Yan, Xiaoya Cheng, Juelin Zhu, Yu Liu, Maojun Zhang†

TGRS 2024

@ARTICLE{10387530,
  author={Liu, Yuxiang and Wu, Rouwan and Yan, Shen and Cheng, Xiaoya and Zhu, Juelin and Liu, Yu and Zhang, Maojun},
  journal={IEEE Transactions on Geoscience and Remote Sensing}, 
  title={ATLoc: Aerial Thermal Images Localization via View Synthesis}, 
  year={2024},
  volume={62},
  number={},
  pages={1-13},
  keywords={Location awareness;Cameras;Three-dimensional displays;Solid modeling;6-DOF;Atmospheric modeling;Visualization;Aerial localization;thermal image;view synthesis},
  doi={10.1109/TGRS.2024.3352421}}

Deep Active Contours for Real-time 6-DoF Object Tracking

Long Wang*, Shen Yan*, Jianan Zhen, Yu Liu, Maojun Zhang, Guofeng Zhang, Xiaowei Zhou†

ICCV 2023

@inproceedings{wang2023deep,
  title={Deep active contours for real-time 6-DoF object tracking},
  author={Wang, Long and Yan, Shen and Zhen, Jianan and Liu, Yu and Zhang, Maojun and Zhang, Guofeng and Zhou, Xiaowei},
  booktitle={Proceedings of the IEEE/CVF International Conference on Computer Vision},
  pages={14034--14044},
  year={2023}
}

Render-and-compare: Cross-view 6-dof localization from noisy prior

Shen Yan*, Xiaoya Cheng*, Yuxiang Liu, Juelin Zhu, Rouwan Wu, Yu Liu, Maojun Zhang†

ICME 2023

@inproceedings{yan2023render,
  title={Render-and-compare: Cross-view 6-dof localization from noisy prior},
  author={Yan, Shen and Cheng, Xiaoya and Liu, Yuxiang and Zhu, Juelin and Wu, Rouwan and Liu, Yu and Zhang, Maojun},
  booktitle={2023 IEEE International Conference on Multimedia and Expo (ICME)},
  pages={2171--2176},
  year={2023},
  organization={IEEE}
}

Long-term Visual Localization with Mobile Sensors

Shen Yan, Yu Liu, Long Wang, Zehong Shen, Zhen Peng, Haomin Liu, Maojun Zhang, Guofeng Zhang, Xiaowei Zhou†

CVPR 2023

@inproceedings{yan2023long,
  title={Long-term Visual Localization with Mobile Sensors},
  author={Yan, Shen and Liu, Yu and Wang, Long and Shen, Zehong and Peng, Zhen and Liu, Haomin and Zhang, Maojun and Zhang, Guofeng and Zhou, Xiaowei},
  booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
  pages={17245--17255},
  year={2023}
}