---
license: cc-by-4.0
pretty_name: PVL-BA-Bench
tags:
- bundle-adjustment
- photogrammetry
- computer-vision
- 3d
- tabular
configs:
- config_name: datasets
  default: true
  data_files:
  - split: train
    path: manifest/datasets.csv
- config_name: artifacts
  data_files:
  - split: train
    path: manifest/artifacts.csv
- config_name: viewers
  data_files:
  - split: train
    path: manifest/viewers.csv
size_categories:
- 100B<n<1T
---

# PVL-BA-Bench

PVL-BA-Bench is a large-scale bundle adjustment benchmark dataset from Polar-vision Lab. It provides public release metadata, interactive browser viewers, and downloadable PVL-BA, COLMAP, and BAL packages for photogrammetric optimization research.

## Release Links

- Static release index and interactive viewers: <https://pub-2c28bdf6e62548919c47727a9b969dda.r2.dev/index.html>
- Downloadable packages in this dataset repository: `packages/{pvl-ba,colmap,bal}/.../*.zip`
- Source tools and manifests: <https://github.com/Polar-vision/PVL-BA-Bench>

## Dataset Viewer

The Hugging Face Dataset Viewer exposes three tabular metadata configurations:

- `datasets`: one row per released BA problem.
- `artifacts`: one row per downloadable package, including relative package path, size, file count, and SHA-256 checksum.
- `viewers`: one row per interactive viewer HTML file.

The large ZIP packages are intentionally not used as Viewer data files. They are downloadable artifacts referenced by the metadata tables.

## Release Summary

The release contains 978 BA problems and 2,934 downloadable ZIP packages:

- 978 PVL-BA packages
- 978 COLMAP packages
- 978 BAL packages

Collections:

- 16 ABS Cloud Earth blocks
- 820 REL Cloud Earth blocks
- 20 controlled aerotriangulation blocks
- 122 COLMAP text-model BA blocks

## Formats

Each released problem may be downloaded in three formats:

- `pvl-ba`: Polar-vision Lab four-file bundle adjustment format.
- `colmap`: COLMAP text-model format.
- `bal`: classic BAL single-file format with optional sidecars.

Interactive HTML viewers are hosted on R2 under `viewers/<dataset>.html`.