mlsanityData to 7 Oct 2026

UAVD4L: A Large-Scale Dataset for UAV 6-DoF Localization

arXiv 2401.05971 ↗First posted 11 Jan 2024cs.CVcited by 21

Not on the map. Why?

Abstract (arXiv)

Despite significant progress in global localization of Unmanned Aerial Vehicles (UAVs) in GPS-denied environments, existing methods remain constrained by the availability of datasets. Current datasets often focus on small-scale scenes and lack viewpoint variability, accurate ground truth (GT) pose, and UAV build-in sensor data. To address these limitations, we introduce a large-scale 6-DoF UAV dataset for localization (UAVD4L) and develop a two-stage 6-DoF localization pipeline (UAVLoc), which consists of offline synthetic data generation and online visual localization. Additionally, based on the 6-DoF estimator, we design a hierarchical system for tracking ground target in 3D space. Experimental results on the new dataset demonstrate the effectiveness of the proposed approach. Code and dataset are available at https://github.com/RingoWRW/UAVD4L

Key facts. Cited by 21 papers in the map (data through 7 Oct 2026). Builds on 27 of its 54 references that are in the map. First posted on arXiv 11 Jan 2024.

Builds on

27 of 54 references.

References · 27

  1. 2019SuperGlue: Learning Feature Matching with Graph Neural Networkscited by 1,437
  2. 2017SuperPoint: Self-Supervised Interest Point Detection and Descriptioncited by 1,313
  3. 2021LoFTR: Detector-Free Local Feature Matching with Transformerscited by 974
  4. 2015NetVLAD: CNN architecture for weakly supervised place recognitioncited by 935
  5. 2018From Coarse to Fine: Robust Hierarchical Localization at Large Scalecited by 556
  6. 2021Back to the Feature: Learning Robust Camera Localization from Pixels to Posecited by 199
  7. 2020University-1652: A Multi-view Multi-source Benchmark for Drone-based Geo-localizationcited by 152
  8. 2016End-to-end Learning of Deep Visual Representations for Image Retrievalcited by 122
  9. 2021LENS: Localization enhanced by NeRF synthesiscited by 116
  10. 2020Self-supervising Fine-grained Region Similarities for Large-scale Image Localizationcited by 110
  11. 2022LaMAR: Benchmarking Localization and Mapping for Augmented Realitycited by 98
  12. 2022MeshLoc: Mesh-Based Visual Localizationcited by 62
15 more
  1. 2021CrossLoc: Scalable Aerial Localization Assisted by Multimodal Synthetic Datacited by 28
  2. 2023Are Local Features All You Need for Cross-Domain Visual Place Recognition?cited by 21
  3. 2018UAV Pose Estimation using Cross-view Geolocalization with Satellite Imagerycited by 20
  4. 2021UAV Localization Using Autoencoded Satellite Imagescited by 17
  5. 2021i3dLoc: Image-to-range Cross-domain Localization Robust to Inconsistent Environmental Conditionscited by 14
  6. 2023Long-term Visual Localization with Mobile Sensorscited by 13
  7. 2022ALTO: A Large-Scale Dataset for UAV Visual Place Recognition and Localizationcited by 12
  8. 2021Real-time Geo-localization Using Satellite Imagery and Topography for Unmanned Aerial Vehiclescited by 10
  9. 2022iSimLoc: Visual Global Localization for Previously Unseen Environments with Simulated Imagescited by 6
  10. 2020BRM Localization: UAV Localization in GNSS-Denied Environments Based on Matching of Numerical Map and UAV Imagescited by 5
  11. 2022Vision-based GNSS-Free Localization for UAVs in the Wildcited by 5
  12. 2018A Multi-Stage Multi-Task Neural Network for Aerial Scene Interpretation and Geolocalizationcited by 4
  13. 2021GNSS-denied geolocalization of UAVs by visual matching of onboard camera images with orthophotoscited by 3
  14. 2022RenderNet: Visual Relocalization Using Virtual Viewpoints in Large-Scale Indoor Environmentscited by 3
  15. 2022LSVL: Large-scale season-invariant visual localization for UAVscited by 3

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 3; 2025: 8; 2026: 10.

21 papers.

Sort:

By area:

  1. 2025UAVScenes: A Multi-Modal Dataset for UAVscited by 26
  2. 2024LoD-Loc: Aerial Visual Localization using LoD 3D Map with Neural Wireframe Alignmentcited by 12
  3. 2025OrthoLoC: UAV 6-DoF Localization and Calibration Using Orthographic Geodatacited by 10
  4. 2025LoD-Loc v2: Aerial Visual Localization over Low Level-of-Detail City Models using Explicit Silhouette Alignmentcited by 5
  5. 2025OccuFly: A 3D Vision Benchmark for Semantic Scene Completion from the Aerial Perspectivecited by 5
  6. 2025NTR-Gaussian: Nighttime Dynamic Thermal Reconstruction with 4D Gaussian Splatting Based on Thermodynamicscited by 4
  7. 2026AirZoo: A Unified Large-Scale Dataset for Grounding Aerial Geometric 3D Visioncited by 3
  8. 2025Agentic Satellite-Augmented Low-Altitude Economy and Terrestrial Networks: A Survey on Generative Approachescited by 2
  9. 2026ABot-Earth 0.5: Generative 3D Earth Modelcited by 2
  10. 2026AerialMetric: Benchmarking and Adapting UAV Monocular Metric Depth Estimation in the Real Worldcited by 2
  11. 2024UAVDB: Point-Guided Masks for UAV Detection and Segmentationcited by 1
  12. 2024AerialGo: Walking-through City View Generation from Aerial Perspectivescited by 1
9 more
  1. 2025SWA-PF: Semantic-Weighted Adaptive Particle Filter for Memory-Efficient 4-DoF UAV Localization in GNSS-Denied Environmentscited by 1
  2. 2026PiLoT: Neural Pixel-to-3D Registration for UAV-based Ego and Target Geo-localizationcited by 1
  3. 2026egenioussBench: A New Dataset for Geospatial Visual Localisationcited by 1
  4. 2025Beyond a Single Light: A Large-Scale Aerial Dataset for Urban Scene Reconstruction Under Varying Illuminationcited by 0
  5. 2026SOAR: Regression-based LiDAR Relocalization for UAVscited by 0
  6. 2026LoD-Loc v3: Generalized Aerial Localization in Dense Cities using Instance Silhouette Alignmentcited by 0
  7. 2026OrthoTrack: Continuous 6-DoF UAV Trajectory Estimation Anchored in Public Orthophotoscited by 0
  8. 2026SemCityLoc: Aerial 6DoF Localization Using Semantic 3D City Modelscited by 0
  9. 2026PiLoT v2: Pixel-to-Orthogonal Map Alignment for Free-view UAV Geo-localizationcited by 0