构建开放大尺度街景与航拍图像数据集,提升城市定位精度。
OpenCVL: An Open, Diverse, and Large-Scale Dataset for Fine-Grained Cross-View Localization

- 整合高精度与真实场景图像,构建61万对跨视角图像对。
- 引入去噪框架,使杂乱地理标签数据可用于可靠评估。
- 支持跨区域与雪地等极端场景测试,适合实际应用研究。
细粒度跨视角定位(CVL)通过将地面图像与地理参考的航拍图像对齐,精确估计其位置与朝向,为复杂城市环境中提供可扩展的全球导航卫星系统(GNSS)替代方案。现有数据集依赖高端传感器采集,限制了图像多样性和可扩展性;而真实场景图像虽丰富,但其噪声地理标签难以用于可靠评估。为此,我们提出OpenCVL,一个大规模、多样化且开源的数据集,包含来自欧洲四国41个城市的617,388对地面-航拍图像。所有图像均来源于允许使用的平台,确保长期可访问性,支持开放与可复现研究。训练集融合高端传感器图像与多样化的在野图像;我们进一步开发数据清洗框架,过滤并修正姿态标注,构建可靠的在野评估数据。此外,OpenCVL包含专门的跨区域和雪地测试集,以评估模型泛化与鲁棒性。在OpenCVL上使用最先进CVL模型进行实验表明,引入带噪的在野数据能持续提升在清洁测试集上的表现,揭示了利用多样化真实图像扩展CVL的前景。
原文摘要 · Abstract (English)
Fine-grained Cross-View Localization (CVL) estimates the precise position and orientation of a ground-level image by aligning it with geo-referenced aerial imagery, offering a scalable alternative to Global Navigation Satellite Systems (GNSS) in challenging urban environments. Existing datasets rely on data collected with high-end sensor suites, which inherently limit image diversity and scalability. While in-the-wild images are abundant, their noisy geo-tags make them unsuitable for reliable evaluation. To bridge this gap, we introduce OpenCVL, a large-scale, diverse, and open dataset containing 617,388 ground-aerial image pairs spanning 41 cities across four European countries. All images are sourced from permissive platforms, ensuring long-term accessibility and supporting open and reproducible research. The training set combines images captured with high-end sensors with diverse in-the-wild imagery. We further develop a data curation framework that filters and corrects pose annotations to construct reliable in-the-wild evaluation data. In addition, OpenCVL includes dedicated cross-area and snowy test sets to assess generalization and robustness. Experiments with a state-of-the-art CVL model on OpenCVL show that incorporating noisy in-the-wild data consistently improves performance on clean test sets, suggesting a promising direction for scaling CVL with diverse real-world imagery.
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