---
license: cc-by-nc-sa-4.0
---
<div align="center">
  <h1>AID4AD</h1>
  
  <h3> AID4AD: Aerial Image Data for Automated Driving Perception </h3>
  
  <a href="https://arxiv.org/pdf/2508.02140"><img src="https://img.shields.io/badge/arXiv-Paper-brightgreen.svg" alt="arXiv Paper"></a>
<a href="https://github.com/DriverlessMobility/AID4AD">
  <img src="https://img.shields.io/badge/GitHub-black.svg?logo=github" alt="GitHub">
</a>
</div>

## Introduction

This repository provides the dataset for the work **“[AID4AD: Aerial Image Data for Automated Driving Perception](https://huggingface.co/papers/2508.02140)”**.

For implementation and dataset details, please refer to the GitHub repository.

## 📄 Citation

If you use AID4AD in your research, please cite:

```bibtex
@misc{Lengerer_AID4AD_2025,
      title={AID4AD: Aerial Image Data for Automated Driving Perception}, 
      author={Daniel Lengerer and Mathias Pechinger and Klaus Bogenberger and Carsten Markgraf},
      year={2025},
      eprint={2508.02140},
      archivePrefix={arXiv},
      primaryClass={cs.CV},
      url={https://arxiv.org/abs/2508.02140}, 
}
```

## 📜 License

The **AID4AD dataset**, including the offset-grid-based mapping between the nuScenes local coordinate system and aerial imagery, as well as all associated scripts, is licensed under **Creative Commons CC-BY-NC-SA 4.0**.

To support reproducibility, we include aerial image tiles extracted using Google Earth Pro, along with scripts to generate per-frame views from them.

> Use of the aerial imagery remains subject to the [Google Earth Terms of Service](https://earthengine.google.com/terms/) and [Google Attribution Guidelines](https://about.google/brand-resource-center/products-and-services/geo-guidelines/).  
> Please ensure proper attribution when using or displaying imagery.