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A framework is presented for refining GPS location and estimate the camera orientation using a single urban building image, a 2D city map with building outlines, given a noisy GPS location. We propose to use tilt-invariant vertical building corner edges extracted from the building image. A location-orientation hypothesis, which we call an LOH, is a proposed map location from which an image of building corners would occur at the observed positions of corner edges in the photo. The noisy GPSdoi:10.1109/cvprw.2014.31 dblp:conf/cvpr/ChuGC14 fatcat:57nd5luk6vhspe4ektmtbv2key