| --- |
| pretty_name: ChangAnPark |
| task_categories: |
| - other |
| tags: |
| - image-retrieval |
| - visual-localization |
| - uav |
| - cross-domain |
| - 6dof-pose-estimation |
| size_categories: |
| - 10K<n<100K |
| license: cc-by-nc-4.0 |
| gated: true |
| extra_gated_heading: Request access to ChangAnPark |
| extra_gated_description: Requests are manually reviewed for non-commercial use. |
| extra_gated_button_content: Submit access request |
| extra_gated_prompt: >- |
| Please provide accurate affiliation and intended-use information. Access is |
| governed by the Creative Commons Attribution-NonCommercial 4.0 International |
| license (CC BY-NC 4.0). |
| extra_gated_fields: |
| Full name: text |
| Affiliation: text |
| Institutional email: text |
| Country: country |
| Intended non-commercial use: text |
| Requested components: |
| type: select |
| options: |
| - Retrieval package only |
| - Retrieval and PnP coordinate-map packages |
| I will comply with the dataset license: checkbox |
| --- |
| |
| # ChangAnPark |
|
|
| ChangAnPark is the self-collected Chang'an Park benchmark used to evaluate |
| retrieval, geometric re-ranking, and absolute PnP localization in **RIM: A |
| Retrieval-In-Matching Framework for Cross-Domain Global Visual Localization of |
| UAVs**. |
|
|
| ## Files |
|
|
| | File | Contents | Required for | |
| |---|---|---| |
| | `ChangAnPark-v0.1.0-retrieval.tar.zst` | 26,568 SfM reference RGB images, 2,383 real UAV queries, public poses, configuration, and the 68-query exclusion protocol | Retrieval and re-ranking | |
| | `ChangAnPark-v0.1.0-coordinate-maps.tar.zst` | 26,568 per-pixel float32 ECEF coordinate maps | PnP | |
| | `SHA256SUMS.txt` | SHA-256 checksums for both archives | Integrity verification | |
| | `LICENSE_DATASET.md` | Dataset license and ownership notice | Terms of use | |
|
|
| Retrieval-only evaluation needs only the retrieval archive. Extract both |
| archives into the same parent directory for the complete layout: |
|
|
| ```bash |
| sha256sum -c SHA256SUMS.txt |
| tar --zstd -xf ChangAnPark-v0.1.0-retrieval.tar.zst |
| tar --zstd -xf ChangAnPark-v0.1.0-coordinate-maps.tar.zst |
| ``` |
|
|
| ```text |
| ChangAnPark-v0.1.0/ |
| ├── DATASET_CARD.md |
| ├── LICENSE_DATASET.md |
| └── park/ |
| ├── configs/park.json |
| ├── protocols/park_construction_excluded_indices.json |
| ├── train/ |
| │ ├── poses_public.npy |
| │ ├── rgb/ |
| │ └── coords_3d/ |
| └── test/ |
| ├── poses_public.npy |
| └── rgb/real/ |
| ``` |
|
|
| The paper protocol evaluates 2,315 queries after excluding the 68 indices in |
| the included protocol JSON. Full-ECEF coordinate maps are converted to the |
| configured local frame by the RIM evaluator immediately before PnP. |
|
|
| ## Access |
|
|
| Access requests are reviewed manually. Include your name, affiliation, |
| institutional email, country, intended non-commercial use, and requested |
| components in the form above. Questions may be sent to |
| `lixin200@mails.ucas.edu.cn`. |
|
|
| Gating controls initial access to the files. Once access is granted, use and |
| sharing are governed by CC BY-NC 4.0, including its attribution, |
| non-commercial-use, and indication-of-changes conditions. |
|
|
| ## License and ownership |
|
|
| Except where otherwise noted, ChangAnPark is licensed under the [Creative |
| Commons Attribution-NonCommercial 4.0 International |
| license](https://creativecommons.org/licenses/by-nc/4.0/) (CC BY-NC 4.0). |
| Copyright and database rights remain with the dataset authors; the license does |
| not transfer ownership. Commercial use is not licensed. For commercial |
| licensing enquiries, contact `lixin200@mails.ucas.edu.cn`. |
|
|
| This repository contains no Google-derived imagery, Google 3D Tiles, model |
| weights, experimental feature caches, or raw Park 3D Tiles/B3DM assets. The RIM |
| source code and model weights have their own licenses. |
|
|
| ## Citation |
|
|
| Please cite the paper associated with this dataset: |
|
|
| > Xin Li, Siyuan Duan, Shang Wang, Zhimin Mao, Bingliang Hu, and Geng Zhang. |
| > **RIM: A Retrieval-In-Matching Framework for Cross-Domain Global Visual |
| > Localization of UAVs**. Manuscript submitted to *Knowledge-Based Systems*, |
| > 2026. |
|
|
| Complete publication metadata and BibTeX will be added when finalized. |
|
|
