@article{diffvldiffusionbasedvisuallocalizationon,
  title = {DiffVL: Diffusion-Based Visual Localization on 2D Maps via BEV-Conditioned GPS Denoising},
  author = {Li Gao and Hongyang Sun and Liu Liu and Yunhao Li and Yang Cai},
  year = {2025},
  eprint = {2509.14565},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2509.14565},
}