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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:
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
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 (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.
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