# SUES-200: A Multi-height Multi-scene Cross-view Image Benchmark Across Drone and Satellite

arXiv: https://arxiv.org/abs/2204.10704 · HTML: https://mlsanity.com/paper/2204.10704/

## Key facts

- Cited by 64 papers in the map (data through 14 Oct 2026).
- Builds on 29 of its 54 references that are in the map.
- First posted on arXiv 22 Apr 2022.

## Builds on (most cited first, 29 of 29)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [Very Deep Convolutional Networks for Large-Scale Image Recognition](https://mlsanity.com/paper/1409.1556/) (2014)
- [Swin Transformer: Hierarchical Vision Transformer using Shifted Windows](https://mlsanity.com/paper/2103.14030/) (2021)
- [Densely Connected Convolutional Networks](https://mlsanity.com/paper/1608.06993/) (2016)
- [EfficientNet: Rethinking Model Scaling for Convolutional Neural Networks](https://mlsanity.com/paper/1905.11946/) (2019)
- [Squeeze-and-Excitation Networks](https://mlsanity.com/paper/1709.01507/) (2017)
- [Delving Deep into Rectifiers: Surpassing Human-Level Performance on ImageNet Classification](https://mlsanity.com/paper/1502.01852/) (2015)
- [CBAM: Convolutional Block Attention Module](https://mlsanity.com/paper/1807.06521/) (2018)
- [Conditional Generative Adversarial Nets](https://mlsanity.com/paper/1411.1784/) (2014)
- [Inception-v4, Inception-ResNet and the Impact of Residual Connections on Learning](https://mlsanity.com/paper/1602.07261/) (2016)
- [Swin Transformer V2: Scaling Up Capacity and Resolution](https://mlsanity.com/paper/2111.09883/) (2021)
- [Deep Metric Learning via Lifted Structured Feature Embedding](https://mlsanity.com/paper/1511.06452/) (2015)
- [ResNeSt: Split-Attention Networks](https://mlsanity.com/paper/2004.08955/) (2020)
- [Bag of Tricks and A Strong Baseline for Deep Person Re-identification](https://mlsanity.com/paper/1903.07071/) (2019)
- [Deep metric learning using Triplet network](https://mlsanity.com/paper/1412.6622/) (2014)
- [R2D2: Repeatable and Reliable Detector and Descriptor](https://mlsanity.com/paper/1906.06195/) (2019)
- [Wide-Area Image Geolocalization with Aerial Reference Imagery](https://mlsanity.com/paper/1510.03743/) (2015)
- [Lending Orientation to Neural Networks for Cross-view Geo-localization](https://mlsanity.com/paper/1903.12351/) (2019)
- [University-1652: A Multi-view Multi-source Benchmark for Drone-based Geo-localization](https://mlsanity.com/paper/2002.12186/) (2020)
- [Drone-based RGB-Infrared Cross-Modality Vehicle Detection via Uncertainty-Aware Learning](https://mlsanity.com/paper/2003.02437/) (2020)
- [Where am I looking at? Joint Location and Orientation Estimation by Cross-View Matching](https://mlsanity.com/paper/2005.03860/) (2020)
- [Each Part Matters: Local Patterns Facilitate Cross-view Geo-localization](https://mlsanity.com/paper/2008.11646/) (2020)
- [Localizing and Orienting Street Views Using Overhead Imagery](https://mlsanity.com/paper/1608.00161/) (2016)
- [Optimal Feature Transport for Cross-View Image Geo-Localization](https://mlsanity.com/paper/1907.05021/) (2019)
- [Predicting Ground-Level Scene Layout from Aerial Imagery](https://mlsanity.com/paper/1612.02709/) (2016)
- [Cross-View Image Matching for Geo-localization in Urban Environments](https://mlsanity.com/paper/1703.07815/) (2017)
- [A Transformer-Based Feature Segmentation and Region Alignment Method For UAV-View Geo-Localization](https://mlsanity.com/paper/2201.09206/) (2022)
- [VOC-ReID: Vehicle Re-identification based on Vehicle-Orientation-Camera](https://mlsanity.com/paper/2004.09164/) (2020)

## Built on by (most cited first, 30 of 64)

- [UAVScenes: A Multi-Modal Dataset for UAVs](https://mlsanity.com/paper/2507.22412/) (2025)
- [SDPL: Shifting-Dense Partition Learning for UAV-View Geo-Localization](https://mlsanity.com/paper/2403.04172/) (2024)
- [Game4Loc: A UAV Geo-Localization Benchmark from Game Data](https://mlsanity.com/paper/2409.16925/) (2024)
- [UAV-VisLoc: A Large-scale Dataset for UAV Visual Localization](https://mlsanity.com/paper/2405.11936/) (2024)
- [Video2BEV: Transforming Drone Videos to BEVs for Video-based Geo-localization](https://mlsanity.com/paper/2411.13610/) (2024)
- [Multi-Level Embedding and Alignment Network with Consistency and Invariance Learning for Cross-View Geo-Localization](https://mlsanity.com/paper/2412.14819/) (2024)
- [OrthoLoC: UAV 6-DoF Localization and Calibration Using Orthographic Geodata](https://mlsanity.com/paper/2509.18350/) (2025)
- [GOMAA-Geo: GOal Modality Agnostic Active Geo-localization](https://mlsanity.com/paper/2406.01917/) (2024)
- [Ground-to-Aerial Person Search: Benchmark Dataset and Approach](https://mlsanity.com/paper/2308.12712/) (2023)
- [VAGeo: View-specific Attention for Cross-View Object Geo-Localization](https://mlsanity.com/paper/2501.07194/) (2025)
- [WeatherPrompt: Multi-modality Representation Learning for All-Weather Drone Visual Geo-Localization](https://mlsanity.com/paper/2508.09560/) (2025)
- [CAMeL: Cross-modality Adaptive Meta-Learning for Text-based Person Retrieval](https://mlsanity.com/paper/2504.18782/) (2025)
- [Aerial View Localization with Reinforcement Learning: Towards Emulating Search-and-Rescue](https://mlsanity.com/paper/2209.03694/) (2022)
- [Visual place recognition for aerial imagery: A survey](https://mlsanity.com/paper/2406.00885/) (2024)
- [Scale-adaptive UAV Geo-localization via Height-aware Partition Learning](https://mlsanity.com/paper/2412.11535/) (2024)
- [Without Paired Labeled Data: End-to-End Self-Supervised Learning for Drone-view Geo-Localization](https://mlsanity.com/paper/2502.11381/) (2025)
- [Object-aware graph matching network for cross-domain remote sensing image localization](https://mlsanity.com/paper/2511.02489/) (2025)
- [UniABG: Unified Adversarial View Bridging and Graph Correspondence for Unsupervised Cross-View Geo-Localization](https://mlsanity.com/paper/2511.12054/) (2025)
- [AirZoo: A Unified Large-Scale Dataset for Grounding Aerial Geometric 3D Vision](https://mlsanity.com/paper/2604.26567/) (2026)
- [Precise GPS-Denied UAV Self-Positioning via Context-Enhanced Cross-View Geo-Localization](https://mlsanity.com/paper/2502.11408/) (2025)
- [Robust Drone-View Geo-Localization via Content-Viewpoint Disentanglement](https://mlsanity.com/paper/2505.11822/) (2025)
- [Object-level Cross-view Geo-localization with Location Enhancement and Multi-Head Cross Attention](https://mlsanity.com/paper/2505.17911/) (2025)
- [JRN-Geo: A Joint Perception Network based on RGB and Normal images for Cross-view Geo-localization](https://mlsanity.com/paper/2509.05696/) (2025)
- [DiffusionUavLoc: Visually Prompted Diffusion for Cross-View UAV Localization](https://mlsanity.com/paper/2511.06422/) (2025)
- [Efficient Spike-driven Transformer for High-performance Drone-View Geo-Localization](https://mlsanity.com/paper/2512.19365/) (2025)
- [Learnable Query Aggregation with KV Routing for Cross-view Geo-localisation](https://mlsanity.com/paper/2512.23938/) (2025)
- [MOGeo: Beyond One-to-One Cross-View Object Geo-localization](https://mlsanity.com/paper/2603.13843/) (2026)
- [SCC-Loc: A Unified Semantic Cascade Consensus Framework for UAV Thermal Geo-Localization](https://mlsanity.com/paper/2604.03120/) (2026)
- [Drone Referring Localization: An Efficient Heterogeneous Spatial Feature Interaction Method For UAV Self-Localization](https://mlsanity.com/paper/2208.06561/) (2022)
- [Style Alignment based Dynamic Observation Method for UAV-View Geo-localization](https://mlsanity.com/paper/2407.02832/) (2024)

## Abstract (arXiv)

Cross-view image matching aims to match images of the same target scene acquired from different platforms. With the rapid development of drone technology, cross-view matching by neural network models has been a widely accepted choice for drone position or navigation. However, existing public datasets do not include images obtained by drones at different heights, and the types of scenes are relatively homogeneous, which yields issues in assessing a model's capability to adapt to complex and changing scenes. In this end, we present a new cross-view dataset called SUES-200 to address these issues. SUES-200 contains 24120 images acquired by the drone at four different heights and corresponding satellite view images of the same target scene. To the best of our knowledge, SUES-200 is the first public dataset that considers the differences generated in aerial photography captured by drones flying at different heights. In addition, we developed an evaluation for efficient training, testing and evaluation of cross-view matching models, under which we comprehensively analyze the performance of nine architectures. Then, we propose a robust baseline model for use with SUES-200. Experimental results show that SUES-200 can help the model to learn highly discriminative features of the height of the drone.