---
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.