README.md

---
license: other
pretty_name: PiLoT Data
gated: true
extra_gated_heading: "Request access to PiLoT Data"
extra_gated_description: "For non-commercial research or education. Access is granted automatically after you agree."
extra_gated_button_content: "Agree and request access"
extra_gated_prompt: >
  Access is for non-commercial research or education only.
  Do not redistribute the dataset.
extra_gated_fields:
  Full name: text
  Affiliation / Institution: text
  Country: country
  Advisor / PI name: text
  Intended use:
    type: select
    options:
      - Research
      - Education
      - label: Other
        value: other
  Brief project description: text
  I agree to non-commercial use only: checkbox
  I will not redistribute the data: checkbox
task_categories:
- feature-extraction
language:
- en
tags:
- uav-geolocalization
- navigation
- drone-imagery
size_categories:
- 100G<n<1T
- n>1T
---
# PiLoT Data

This repository is **gated**. Request access on this page before downloading. Approval is automatic after you agree.

Open demo assets live in a separate repo: [choyaa/PiLoT-demo](https://huggingface.co/datasets/choyaa/PiLoT-demo).

> We provide **two releases** of the PiLoT dataset:
>
> | Release | Resolution | Size | Access |
> | :--- | :--- | :--- | :--- |
> | **Training Pack** | 512×512 (compressed) | ~**343 GB** | 🔒 [Hugging Face](https://huggingface.co/datasets/choyaa/PiLoT-data) (gated) — Train/ + Validation/ |
> | **Full Dataset** | **1600×1200** (original) | ~**6.5 TB** | 🔴 Baidu Netdisk / 🔵 Google Drive — see [table below](#full-resolution-release-16001200) |
> | **Demo assets** | — | — | ✅ open: [choyaa/PiLoT-demo](https://huggingface.co/datasets/choyaa/PiLoT-demo) |

### Trajectory Card

* **Ref-Query Pairs**: Each sub-dataset includes a **Reference** (clear weather) and a **Query** (with weather effects) trajectory following the exact same path.
* **Data Modalities**: Sequential frames are provided as `*_0.png` for RGB and `*_1.png` for Metric Depth.
* **🙋❗Note**: Please download the reprojection code from this repo and run the **demo** first to verify the projection alignment and coordinate system.

## Download — 512×512 Training Pack 

### Option 1: `huggingface-cli` 

```bash
pip install -U huggingface_hub

# Log in (required). Request access on the dataset page first.
huggingface-cli login

# Download everything (~343 GB)
huggingface-cli download choyaa/PiLoT-data --repo-type dataset --local-dir ./PiLoT-data

# Or download only one split
huggingface-cli download choyaa/PiLoT-data Train --repo-type dataset --local-dir ./PiLoT-data
huggingface-cli download choyaa/PiLoT-data Validation --repo-type dataset --local-dir ./PiLoT-data
```

### Option 2: Python

```python
from huggingface_hub import snapshot_download

snapshot_download(
    repo_id="choyaa/PiLoT-data",
    repo_type="dataset",
    local_dir="./PiLoT-data",
    allow_patterns=["Train/*"],  # or ["Validation/*"] or omit for all
)
```

### Extract a trajectory

```bash
unzip PiLoT-data/Train/England_seq1@200@30_50.zip -d PiLoT-data/Train/
```

## Full-Resolution Release (1600×1200)

In addition to the Hugging Face training pack, we provide the **original 1600×1200** full-resolution dataset (~**6.5 TB** total) via cloud drives. Download each trajectory individually from the links below.

* **Images**: Download from the 🔴 Baidu Netdisk / 🔵 Google Drive links in the table.
* **Poses & Cameras**: Download directly from this repository.

| Trajectory Name | Location (City, Country) | Lat / Lng | Height | Pitch Range | 🔴 Baidu Netdisk | 🔵 Google Drive |
| :--- | :--- | :--- | :--- | :--- | :--- | :--- |
| England_seq1@200@30_50 | Oxford, UK | 51.7345 / -1.2715 | 200m | [30, 50] | [Link](https://pan.baidu.com/s/19jVWKwyiqMw-7yYbaD3AEA?pwd=saww) | [Link](https://drive.google.com/file/d/1PXPqSHqLoU99Rhqx4lQiZWZYB_YOityj/view?usp=sharing) |
| England_seq2@300@0_30 | Oxford, UK | 51.7653 / -1.2976 | 300m | [0, 30] | [Link](https://pan.baidu.com/s/1cIsZOnVtSRblABFd_25ewg?pwd=saww) | [Link](https://drive.google.com/file/d/1fY3Vflqy8vgpozQ3vwx-Mysdr8zDtnfR/view?usp=drive_link) |
| England_seq3@500@30_50 | Manchester, UK | 53.4687 / -2.2627 | 500m | [30, 50] | [Link](https://pan.baidu.com/s/1Yx68dIhvUhk5XTKRZGgDJw) | [Link](https://drive.google.com/file/d/1REXGcj475IpECD60CI9_M3f0kf-Xab70/view?usp=sharing) |
| England_seq4@200@0_30 | Manchester, UK | 53.4846 / -2.2256 | 200m | [0, 30] | [Link](https://pan.baidu.com/s/1vrTPI8VEH_seoxGOnq9wow?pwd=saww) | [Link](https://drive.google.com/file/d/1ODNG50sBN0ULe7CEWBrqC4qZPXd-_AWe/view?usp=drive_link) |
| England_seq5@500@30_50 | Manchester, UK | 53.4689 / -2.3649 | 500m | [30, 50] | [Link](https://pan.baidu.com/s/1Saz2lkqPST6sya0o0gnJ6Q?pwd=saww) | [Link](https://drive.google.com/file/d/1VnPAy0vpImwhq1wY6ekJAnl5PF8zUuqv/view?usp=drive_link) |
| England_seq6@300@30_50 | Coventry, UK | 52.3789 / -1.5969 | 300m | [30, 50] | [Link](https://pan.baidu.com/s/1kpL3EEZjyCLMKU7F5WYMVQ?pwd=saww) | [Link](https://drive.google.com/file/d/1XG4XfidzFtOFg4aNllELm7hfSbHM4Xwu/view?usp=drive_link) |
| England_seq8@300@30_50 | London, UK | 51.5401 / -0.1380 | 300m | [30, 50] | [Link](https://pan.baidu.com/s/1FsA0ZliawfTR8_7Oh4PSsQ?pwd=saww) | [Link](https://drive.google.com/file/d/1UwCD3egFvBwxKudRHT2qqY1CcJRCQmzt/view?usp=drive_link) |
| England_seq10@200@30_50 | Cambridge, UK | 52.1964 / 0.0950 | 200m | [30, 50] | [Link](https://pan.baidu.com/s/1hUDZ7BpRNoPL7If0CZrHQw?pwd=saww) | [Link](https://drive.google.com/file/d/1J5KD0U6lf5d4bPHNKxDkMByP1oW9ryIT/view?usp=drive_link) |
| Finnish_seq1@200@30_50 | Helsinki, Finland | 60.1477 / 24.9221 | 200m | [30, 50] | [Link](https://pan.baidu.com/s/156FS-JcJbZq-fTM8ecgeuw?pwd=saww) | [Link](https://drive.google.com/file/d/1_mifSEI1vfibgqOKx0H898geUKIkiaD3/view?usp=drive_link) |
| Finnish_seq2@300@0_30 | Helsinki, Finland | 60.1913 / 24.9066 | 300m | [0, 30] | [Link](https://pan.baidu.com/s/1--wbT73iNDVztB7YeI7BuQ?pwd=saww) | [Link](https://drive.google.com/file/d/1gKO7tXev8WoqiF9ta2iX_zTIeeGW3Fk9/view?usp=drive_link) |
| Finnish_seq4@200@0_30 | Espoo, Finland | 60.2041 / 24.7858 | 200m | [0, 30] | [Link](https://pan.baidu.com/s/1mbc0GnYhZXqxCk75FxD7Ng?pwd=saww) | [Link](https://drive.google.com/file/d/1-od5oY6Nvc_ZBlyTZ-mdn06rlsMailpY/view?usp=drive_link) |
| Finnish_seq5@500@30_50 | Turku, Finland | 60.4387 / 22.2074 | 500m | [30, 50] | [Link](https://pan.baidu.com/s/1d9epUzL28l5_X7v0i2MI-g?pwd=saww) | [Link](https://drive.google.com/file/d/1zj7KDOwWRH8n6B8umvf0GFiVgBKETR6T/view?usp=drive_link) |
| Finnish_seq6@300@30_50 | Turku, Finland | 60.4617 / 22.2642 | 300m | [30, 50] | [Link](https://pan.baidu.com/s/179qDRdQ73QV4-iDpjhQezA?pwd=saww) | Link |
| Finnish_seq8@300@30_50 | Tampere, Finland | 61.5100 / 23.7607 | 300m | [30, 50] | [Link](https://pan.baidu.com/s/1Pmr4jV2KLZ3BP5NksZqd1g?pwd=saww) | Link |
| Finnish_seq10@200@30_50 | Vantaa, Finland | 60.3131 / 25.0673 | 200m | [30, 50] | [Link](https://pan.baidu.com/s/1wZ7WDTl48ndmCwHKJERHQg?pwd=saww) | Link |
| France_seq1@200@30_50 | Paris, France | 48.8460 / 2.3116 | 200m | [30, 50] | [Link](https://pan.baidu.com/s/1sy3iacebl6F2FfGSqzaSlA?pwd=saww) | Link |
| France_seq2@300@0_30 | Paris, France | 48.8724 / 2.2739 | 300m | [0, 30] | [Link](https://pan.baidu.com/s/1SLFhUP1ug5VRAeKQ0H8mCQ?pwd=saww) | [Link](https://drive.google.com/file/d/1_sSR5DEbmh37qy8uJsK7HcbfY6-CALd-/view?usp=drive_link) |
| France_seq4@200@0_30 | Roissy-en-France, France | 49.0151 / 2.5308 | 200m | [0, 30] | [Link](https://pan.baidu.com/s/1b8iRJfVItq81VsJGt4JQrQ?pwd=saww) | [Link](https://drive.google.com/file/d/1uXNSIh9Ezo4rbTwNrbN0icG5t3Y8TpPS/view?usp=drive_link) |
| France_seq5@500@30_50 | Paris, France | 48.8805 / 2.3694 | 500m | [30, 50] | [Link](https://pan.baidu.com/s/1n0iZ_eCC1zOyqi_KoM3CnA?pwd=saww) | [Link](https://drive.google.com/file/d/1zj7KDOwWRH8n6B8umvf0GFiVgBKETR6T/view?usp=drive_link) |
| France_seq8@300@30_50 | Metz, France | 49.1235 / 6.1455 | 300m | [30, 50] | [Link](https://pan.baidu.com/s/1HMJJhJ-DieiW2hyE6eYH2w?pwd=saww) | [Link](https://drive.google.com/file/d/1d8yPrzGGij7PmBAZJJ3G3R3GRJ8AUv27/view?usp=drive_link) |
| France_seq9@500@0_30 | Bordeaux, France | 44.8501 / -0.5819 | 500m | [0, 30] | [Link](https://pan.baidu.com/s/1IGJSISvLdE67Ki_H6AgxKw?pwd=saww) | [Link](https://drive.google.com/file/d/16YbYniSu8S5Nat_-JD25g9W-_1Epmu_v/view?usp=drive_link) |
| France_seq10@200@30_50 | Marseille, France | 43.3191 / 5.3817 | 200m | [30, 50] | [Link](https://pan.baidu.com/s/1SZV-FA7tmJoZVmj4378KWg?pwd=saww) | Link |
| German_seq1@200@30_50 | Munich, Germany | 48.1544 / 11.5428 | 200m | [30, 50] | [Link](https://pan.baidu.com/s/1RYiH9O8BShRK4Eq4j4E4Cg?pwd=saww) | [Link](https://drive.google.com/file/d/1Ky6DzvJRZgJnh0SeYqY9aENvyCPfj3h4/view?usp=drive_link) |
| German_seq2@300@0_30 | Aachen, Germany | 50.7750 / 6.0724 | 300m | [0, 30] | [Link](https://pan.baidu.com/s/16fcx2puvrBzj79iZpj1qzA?pwd=saww) | [Link](https://drive.google.com/file/d/13o8oyEPLZJRtlM3ONRzlKB6FaztoDauu/view?usp=drive_link) |
| German_seq4@200@0_30 | Munich, Germany | 48.1877 / 11.5741 | 200m | [0, 30] | [Link](https://pan.baidu.com/s/19jG3ewUJCd5K__TtFZatjQ?pwd=saww) | [Link](https://drive.google.com/file/d/1-IsncKnye7NkpNZJ4YET-UvpsxKPAI8V/view?usp=drive_link) |
| German_seq5@500@30_50 | Frankfurt, Germany | 50.0439 / 8.5277 | 500m | [30, 50] | [Link](https://pan.baidu.com/s/1n0iZ_eCC1zOyqi_KoM3CnA?pwd=saww) | [Link](https://drive.google.com/file/d/13TFThDv72fdpQoivHPeTYkiPY_zKe8qt/view?usp=drive_link) |
| German_seq8@300@30_50 | Berlin, Germany | 52.4975 / 13.3710 | 300m | [30, 50] | [Link](https://pan.baidu.com/s/1bjFzpgi69mpT3kvEalbaDQ?pwd=saww) | [Link](https://drive.google.com/file/d/13yPgNhYRsWQVVSWdFDc4BinzcHCWBPY1/view?usp=drive_link) |
| German_seq9@500@0_30 | Frankfurt, Germany | 50.1100 / 8.6641 | 500m | [0, 30] | [Link](https://pan.baidu.com/s/17GkiiWPDUyNBrq8JUMVwqg?pwd=saww) | [Link](https://drive.google.com/file/d/1esUnGHrfbruCSiu9-8NOGR5T3SOQFTzp/view?usp=drive_link) |
| German_seq10@200@30_50 | Heidelberg, Germany | 49.4041 / 8.6462 | 200m | [30, 50] | [Link](https://pan.baidu.com/s/1xNtUqFp1B76sJGDcYapWbw?pwd=saww) | [Link](https://drive.google.com/file/d/1zSPk4LuhzXQX9L67qQTk-rthwd3CI2Yb/view?usp=drive_link) |
| Italy_seq1@200@30_50 | Milan, Italy | 45.4467 / 9.2271 | 200m | [30, 50] | [Link](https://pan.baidu.com/s/13owGTjQO_AOKqOK2_uHNxg?pwd=saww) | [Link](https://drive.google.com/file/d/1kshG4ZPxLKolaH1qXBvC2Nk-SwxJtbBP/view?usp=drive_link) |
| Italy_seq2@300@0_30 | Milan, Italy | 45.4910 / 9.1526 | 300m | [0, 30] | [Link](https://pan.baidu.com/s/1cUQ2MYBdq_oPcAfmRs4V3A?pwd=saww) | [Link](https://drive.google.com/file/d/1DPx-2wkB5mrA5PdAK4IMhPoBzsDFoq_I/view?usp=drive_link) |
| Italy_seq3@500@30_50 | Rome, Italy | 41.9260 / 12.4894 | 500m | [30, 50] | [Link](https://pan.baidu.com/s/1y4AOpqhW6hiWLDR53KWlPw?pwd=saww) | [Link](https://drive.google.com/file/d/137aIWwE8wOsBvsT32_g7VgDqBxVxqcE3/view?usp=drive_link) |
| Italy_seq4@200@0_30 | Rome, Italy | 41.9161 / 12.4628 | 200m | [0, 30] | [Link](https://pan.baidu.com/s/1nxxvTXs825JbcLHrDVYhVQ?pwd=saww) | Link |
| Italy_seq5@500@30_50 | Bologna, Italy | 44.4906 / 11.3297 | 500m | [30, 50] | [Link](https://pan.baidu.com/s/1ReylkyERz1YhJDqavRGDMA?pwd=saww) | Link |
| Italy_seq6@300@30_50 | Bologna, Italy | 44.4776 / 11.3755 | 300m | [30, 50] | [Link](https://pan.baidu.com/s/1iuPmhCGKnmXEYDZSYfbgew?pwd=saww) | [Link](https://drive.google.com/file/d/1INzZnY8PRhpkQsVzK9rR4M85z8aOs9ak/view?usp=drive_link) |
| Italy_seq8@300@30_50 | Florence, Italy | 43.8488 / 11.1064 | 300m | [30, 50] | [Link](https://pan.baidu.com/s/15WY_9og92Ekzqv4OWRNguQ?pwd=saww) | [Link](https://drive.google.com/file/d/11P9VyUfx8oYmAS586574d8JVBMI9Ur2C/view?usp=drive_link) |
| Italy_seq9@500@0_30 | Venice, Italy | 45.4405 / 12.3005 | 500m | [0, 30] | [Link](https://pan.baidu.com/s/1PMFRhUoysrc29zbotISA8A?pwd=saww) | [Link](https://drive.google.com/file/d/10be-zliPgkLQBnPyCkFcSlrn4ewu9-Pg/view?usp=drive_link) |
| Netherland_seq1@500@0_30 | Amsterdam, Netherlands | 52.3492 / 4.8506 | 500m | [0, 30] | [Link](https://pan.baidu.com/s/1jgCc7b-a7i0NVGSDQJfs0g?pwd=saww) | [Link](https://drive.google.com/file/d/1p5z-erD52PKo520Ggl-oacCtUy4DmtXK/view?usp=drive_link) |
| Netherland_seq4@200@30_50 | Amsterdam, Netherlands | 52.3391 / 4.8653 | 200m | [30, 50] | [Link](https://pan.baidu.com/s/1usmuhuuiVXDuXZfhyHgjfw?pwd=saww) | [Link](https://drive.google.com/file/d/1tyZvoUHMP3U7YXdPFheJXJcpvS1Pk-D7/view?usp=drive_link) |
| Netherland_seq5@300@0_30 | The Hague, Netherlands | 52.0709 / 4.2502 | 300m | [0, 30] | [Link](https://pan.baidu.com/s/1plo1lT2jTi6xOC5fAx5ISg?pwd=saww) | [Link](https://drive.google.com/file/d/1tH6UCMswa79dAwJaWFkh1ysPI8R1FksA/view?usp=drive_link) |
| Netherland_seq7@200@0_30 | Delft, Netherlands | 51.9898 / 4.3614 | 200m | [0, 30] | [Link](https://pan.baidu.com/s/13KG_9rAh8iCKWow8LY6zBw?pwd=saww) | [Link](https://drive.google.com/file/d/1ZtWxfqvzN_MRl0hXsRw1Ym9-cgZv1zAs/view?usp=drive_link) |
| Netherland_seq8@500@30_50 | Schiphol, Netherlands | 52.3203 / 4.7171 | 500m | [30, 50] | [Link](https://pan.baidu.com/s/1x7v6ey2GDcOs7cNmJWjhXA?pwd=saww) | [Link](https://drive.google.com/file/d/1d0o2mbvwdJf_Y04YYO8LvgH2H_3V0Uv8/view?usp=drive_link) |
| Netherland_seq9@300@30_50 | Maastricht, Netherlands | 50.8688 / 5.6485 | 300m | [30, 50] | [Link](https://pan.baidu.com/s/1busALBytZM2CjCe809Qu6g?pwd=saww) | [Link](https://drive.google.com/file/d/1FvCtuU0I0f1lZjHamgbSJH1U22gSn8e1/view?usp=drive_link) |
| Netherland_seq10@200@0_30 | Tilburg, Netherlands | 51.5559 / 5.0494 | 200m | [0, 30] | [Link](https://pan.baidu.com/s/1KgG9qpH2L252Y_oUjUhgeg?pwd=saww) | [Link](https://drive.google.com/file/d/1kRxqMN9Xg1HFAikvZDkJ09trwKjyO62F/view?usp=drive_link) |
| spain_seq1@500@0_30 | Barcelona, Spain | 41.3697 / 2.1916 | 500m | [0, 30] | [Link](https://pan.baidu.com/s/18nTE8fh69rjEDXBFyi0UlA?pwd=saww) | [Link](https://drive.google.com/file/d/1kphiBaHu857gnVHj9CZOksNQUR1TCWBK/view?usp=drive_link) |
| spain_seq2@300@30_50 | Barcelona, Spain | 41.3544 / 2.1485 | 300m | [30, 50] | [Link](https://pan.baidu.com/s/1D3dCX2A0nh_B3LmJx3L_QA?pwd=saww) | [Link](https://drive.google.com/file/d/12-7-2ai-6uO0_T_YneLRhdVbAUrGs-7b/view?usp=drive_link) |
| spain_seq3@300@30_50 | Valencia, Spain | 39.4519 / -0.3441 | 300m | [30, 50] | [Link](https://pan.baidu.com/s/1AJMY1waESd5W70ghCM_asg?pwd=saww) | [Link](https://drive.google.com/file/d/1hE5kjaQBcHyJpR75Ss61S-lyaHqwTW5B/view?usp=drive_link) |
| spain_seq4@500@30_50 | Valencia, Spain | 39.4604 / -0.3035 | 500m | [30, 50] | [Link](https://pan.baidu.com/s/1EBqWETGORdl-yggYGn1bqQ?pwd=saww) | [Link](https://drive.google.com/file/d/1MDEdVvEU4OpkLevv8vx6qp01TrhbL9eq/view?usp=drive_link) |
| spain_seq5@200@30_50 | Madrid, Spain | 40.5479 / -3.7035 | 200m | [30, 50] | [Link](https://pan.baidu.com/s/1v-SJ1JNmJLV104r7-NrqwQ?pwd=saww) | [Link](https://drive.google.com/file/d/1e3x5yvL2p7-yKo1dXltgWEtUJlUbqj8r/view?usp=drive_link) |
| spain_seq6@200@0_30 | Madrid, Spain | 40.4163 / -3.7145 | 200m | [0, 30] | [Link](https://pan.baidu.com/s/1NL2ARVyTC6QDVdbcQEz9ZQ?pwd=saww) | Link |
| spain_seq8@500@0_30 | San Sebastián, Spain | 43.3251 / -1.9178 | 500m | [0, 30] | [Link](https://pan.baidu.com/s/1wPMR831gq0zO8XZ6-TnBTg?pwd=saww) | Link |
| spain_seq9@300@30_50 | Seville, Spain | 37.3611 / -6.0668 | 300m | [30, 50] | [Link](https://pan.baidu.com/s/1F6Ls3fdxWC4y2BTLJLsbeA?pwd=saww) | Link |
| Switzerland_seq1@500@30_50 | Lausanne, Switzerland | 46.5368 / 6.5305 | 500m | [30, 50] | [Link](https://pan.baidu.com/s/1FTD8nHESFCWBg1dRfa7CeA?pwd=saww) | [Link](https://drive.google.com/file/d/16OgzixNIPj4P4s5VQK5AxP352PUh1YWp/view?usp=drive_link) |
| Switzerland_seq2@200@0_30 | Basel, Switzerland | 47.6281 / 7.5723 | 200m | [0, 30] | [Link](https://pan.baidu.com/s/1nCJUub9rJxN1fIUFArFnzQ?pwd=saww) | [Link](https://drive.google.com/file/d/1uHe5NaTVRYFrLkFwyIsV-nD8JPN2-y9D/view?usp=drive_link) |
| Switzerland_seq3@300@30_50 | Zurich, Switzerland | 47.3749 / 8.5493 | 300m | [30, 50] | [Link](https://pan.baidu.com/s/1Iyj32MZYebq1GRDcVDEEQA?pwd=saww) | [Link](https://drive.google.com/file/d/1kSApdJ-Bm2GkCg0ePLoKbPo6NJmscNLj/view?usp=drive_link) |
| Switzerland_seq5@300@0_30 | Lausanne, Switzerland | 46.5178 / 6.5259 | 300m | [0, 30] | [Link](https://pan.baidu.com/s/1Au_nmnqQ-QfohAB-oGYD5A?pwd=saww) | [Link](https://drive.google.com/file/d/1abV4czjQ5AgWDWmLZxcRX99RAQP5ON3q/view?usp=drive_link) |
| Switzerland_seq6@200@30_50 | Lausanne, Switzerland | 46.5087 / 6.5445 | 200m | [30, 50] | [Link](https://pan.baidu.com/s/1ELiarhxLXO7O60n0bPZs3A?pwd=saww) | [Link](https://drive.google.com/file/d/1p6c9KyJH6rIq6xaIl_oCDFn_tHnd3sBF/view?usp=drive_link) |
| Switzerland_seq7@500@30_50 | Geneva, Switzerland | 43.3265 / -1.9552 | 500m | [30, 50] | [Link](https://pan.baidu.com/s/1rfU5N8j18ryHNGoTODOHwg?pwd=saww) | [Link](https://drive.google.com/file/d/1p6c9KyJH6rIq6xaIl_oCDFn_tHnd3sBF/view?usp=drive_link) |
| Switzerland_seq8@300@30_50 | Geneva, Switzerland | 43.3251 / -1.9178 | 300m | [30, 50] | [Link](https://pan.baidu.com/s/1CXDQz5cEh4VQFqCDx21_wg?pwd=saww) | [Link](https://drive.google.com/file/d/1JHMATawOJBL4R8wOFPF6xFMx9JWgs4jv/view?usp=drive_link) |
| Switzerland_seq9@500@30_50 | Bern, Switzerland | 37.3611 / -6.0668 | 500m | [30, 50] | [Link](https://pan.baidu.com/s/18uGtIKzLi46jm4rWZXwrOw?pwd=saww) | [Link](https://drive.google.com/file/d/1ZZAjjprlatGXvcRXob-TQewBazwsl6K5/view?usp=drive_link) |
| Switzerland_seq10@200@0_30 | Bern, Switzerland | 37.3685 / -6.0130 | 200m | [0, 30] | [Link](https://pan.baidu.com/s/1N6JAXTDSFIPbU7a_8Qrg9A?pwd=saww) | [Link](https://drive.google.com/file/d/1dcQvuVkkrjFKlJ7yaUpYPxo7X8OHvNMz/view?usp=drive_link) |
| Switzerland_seq12@300@0_30 | Lucerne, Switzerland | 47.0303 / 8.2557 | 300m | [0, 30] | [Link](https://pan.baidu.com/s/1ZB8TNFeJWlLMLfMibzCrIg?pwd=saww) | [Link](https://drive.google.com/file/d/1wUANCUicuaZxbXLP3LGWBNyfd_sfwhHz/view?usp=drive_link) |
| Switzerland_seq13@500@0_30 | Lucerne, Switzerland | 47.0536 / 8.2621 | 500m | [0, 30] | [Link](https://pan.baidu.com/s/1GM_Y2CjNwqsnLqdH7BRUMQ?pwd=saww) | [Link](https://drive.google.com/file/d/1soWbpQaLL-8RgJInm7DWO0m5tmDKbwBa/view?usp=drive_link) |
| Switzerland_seq14@200@0_30 | Lucerne, Switzerland | 47.0897 / 8.2462 | 200m | [0, 30] | [Link](https://pan.baidu.com/s/1QGaETFDDIAeHqz0kLy-krQ?pwd=saww) | [Link](https://drive.google.com/file/d/1xhBWlb9w-VrR6dZRdzF8YgRVx-eDZLjO/view?usp=drive_link) |
| Switzerland_seq16@300@30_50 | Zurich, Switzerland | 47.3534 / 8.5334 | 300m | [30, 50] | [Link](https://pan.baidu.com/s/1BSfJ3Zpg6WH8rGmGt6HQng?pwd=saww) | [Link](https://drive.google.com/file/d/1_npaw7OKijjKzzSljnalJhYCm95CtZhT/view?usp=drive_link) |
| Switzerland_seq17@200@0_30 | Zurich, Switzerland | 47.3876 / 8.5052 | 200m | [0, 30] | [Link](https://pan.baidu.com/s/1vGW5UUV3fSfzJY00AXCH4A?pwd=saww) | [Link](https://drive.google.com/file/d/17z_IMCL2ZEtwkv5otoyMibOQPJrvqbKS/view?usp=drive_link) |
| Switzerland_seq18@300@30_50 | Zurich, Switzerland | 47.3971 / 8.5259 | 300m | [30, 50] | [Link](https://pan.baidu.com/s/1YmHNNSoEAye6XsT6iVKRzQ?pwd=saww) | [Link](https://drive.google.com/file/d/1SHtQKH61mJEBkclqEEXZT8hAjUIDwb-m/view?usp=drive_link) |
| Switzerland_seq19@500@0_30 | Zurich, Switzerland | 47.3894 / 8.4962 | 500m | [0, 30] | [Link](https://pan.baidu.com/s/1qc1w5FJD64T64pz4Y_g2MQ?pwd=saww) | [Link](https://1drv.ms/u/c/456d7446bf87dba3/IQCDtsWi4lSJRp1qs1SGzNptARNcMX0b4vYG4QoabsOmHGc?e=bEgwCo) |
| Switzerland_seq20@200@30_50 | Zurich, Switzerland | 47.4094 / 8.4573 | 200m | [30, 50] | [Link](https://pan.baidu.com/s/1YUu70BJylrsw6LCpzOi7Xw?pwd=saww) | [Link](https://drive.google.com/file/d/1O-jXwdzRn4i2WfTqDbNCojQ51h0zMYWR/view?usp=drive_link) |
| Switzerland_seq21@200@30_50 | Geneva, Switzerland | 46.2181 / 6.1262 | 200m | [30, 50] | [Link](https://pan.baidu.com/s/1nTPtVh0JKjTpgPqCUFywjg?pwd=saww) | [Link](https://drive.google.com/file/d/1yuKT_QOR3TMFGHl3MurgS-bzFz9F_f4M/view?usp=drive_link) |
| Switzerland_seq22@300@0_30 | Geneva, Switzerland | 46.2271 / 6.1392 | 300m | [0, 30] | [Link](https://pan.baidu.com/s/1yMnQv5-BLCq-ZqksT2Qn6Q?pwd=saww) | [Link](https://drive.google.com/file/d/1Jrbu4loKUy8Q89hvv2WEqT96sE1MQt9c/view?usp=drive_link) |
| Switzerland_seq23@500@0_30 | Geneva, Switzerland | 46.2002 / 6.1098 | 500m | [0, 30] | [Link](https://pan.baidu.com/s/1PsVqyTl3rqdhx7Br5h7z4Q?pwd=saww) | [Link](https://drive.google.com/file/d/1fDpicRG-LMEv4n9CFe-36GVqzyiOPsJb/view?usp=drive_link) |
| Switzerland_seq24@200@0_30 | Geneva, Switzerland | 46.1817 / 6.0968 | 200m | [0, 30] | [Link](https://pan.baidu.com/s/1xaozt0Ga10ghWPCbtvTFoA?pwd=saww) | [Link](https://drive.google.com/file/d/1HhwNFpdvTgEXNeX-5IbzSaSw5TA5n91I/view?usp=drive_link) |
| Switzerland_seq25@500@30_50 | Bern, Switzerland | 46.9171 / 7.4149 | 500m | [30, 50] | [Link](https://pan.baidu.com/s/1PE2HEkEhKkDbaiH1L11HIw?pwd=saww) | [Link](https://drive.google.com/file/d/1HhwNFpdvTgEXNeX-5IbzSaSw5TA5n91I/view?usp=drive_link) |
| Switzerland_seq26@300@30_50 | Bern, Switzerland | 46.9410 / 7.3823 | 300m | [30, 50] | [Link](https://pan.baidu.com/s/164DkmBe5fv1fCMa9jBZM6w?pwd=saww) | [Link](https://drive.google.com/file/d/12Jlk9yx41PaphbktAEV4XSC8QxufbJw7/view?usp=drive_link) |
| Switzerland_seq27@200@0_30 | Bern, Switzerland | 46.9316 / 7.4421 | 200m | [0, 30] | [Link](https://pan.baidu.com/s/1h615MvTP4xUw7gljqDgHUQ?pwd=saww) | [Link](https://drive.google.com/file/d/1eFaqfQ42K3EoDa9QhhWsNp9OeVniSWkK/view?usp=drive_link) |
| Switzerland_seq28@300@30_50 | St. Gallen, Switzerland | 47.4465 / 9.4201 | 300m | [30, 50] | [Link](https://pan.baidu.com/s/1ComXhllUOaJ0WZ9gpFkwxg?pwd=saww) | [Link](https://drive.google.com/file/d/18VsSKkmse9TJdwDc66z1X3Pu9TYWi75m/view?usp=drive_link) |
| Switzerland_seq29@500@0_30 | Winterthur, Switzerland | 47.4770 / 8.7008 | 500m | [0, 30] | [Link](https://pan.baidu.com/s/1iV6ehBMHwbm8aGofGEgABg?pwd=saww) | [Link](https://drive.google.com/file/d/1VRpKOWdUDl8zGLFd4S2efeI5sF51SCIh/view?usp=drive_link) |
| Switzerland_seq30@200@30_50 | Winterthur, Switzerland | 47.5307 / 8.7592 | 200m | [30, 50] | [Link](https://pan.baidu.com/s/1pGND9cLyqLgKcS7W5LKZbw?pwd=saww) | [Link](https://drive.google.com/file/d/1XXiZxISsRiPN9ha-qIDURiK2a3YA83Fy/view?usp=drive_link) |
| Switzerland_seq31@200@30_50 | Winterthur, Switzerland | 47.4933 / 8.7005 | 200m | [30, 50] | [Link](https://pan.baidu.com/s/1_GuBBmArXBIeez0AS_fxqw?pwd=saww) | [Link](https://drive.google.com/file/d/1L4OXezq7hiAejJo07In1X8ZPwpZ2CXV5/view?usp=drive_link) |
| Switzerland_seq32@300@0_30 | Winterthur, Switzerland | 47.5323 / 8.6611 | 300m | [0, 30] | [Link](https://pan.baidu.com/s/1ZjaPRFXaXRyRbxe_dSiZSA?pwd=saww) | [Link](https://drive.google.com/file/d/1YCw2hQvbDFwXOAyZJXHnwJCMHnfU3lS7/view?usp=drive_link) |
| Switzerland_seq33@500@0_30 | Fribourg, Switzerland | 46.8333 / 7.1405 | 500m | [0, 30] | [Link](https://pan.baidu.com/s/1dBvwdvDeosGzAxbtgajsrQ?pwd=saww) | [Link](https://1drv.ms/u/c/456d7446bf87dba3/IQCtyCXmqj_VSYpIvZNUx24uAaYb1ITNVptf-FacXtEFn1c?e=vBw1kP) |
| Switzerland_seq34@200@0_30 | Fribourg, Switzerland | 46.8096 / 7.1637 | 200m | [0, 30] | [Link](https://pan.baidu.com/s/1uhr-EJvASHzqSn3E9wfCBg?pwd=saww) | [Link](https://1drv.ms/u/c/456d7446bf87dba3/IQBXdvfAFJ73Tois7RBWxzdAAd4DdiBbyV8J12GqLSaimwQ?e=c3JKXz) |
| Switzerland_seq35@500@30_50 | Neuchâtel, Switzerland | 46.9911 / 6.9122 | 500m | [30, 50] | [Link](https://pan.baidu.com/s/1M156xGO3Sm8QSO68Mll-Qw?pwd=saww) | Link |
| Switzerland_seq36@300@30_50 | Biel, Switzerland | 47.1306 / 7.2319 | 300m | [30, 50] | [Link](https://pan.baidu.com/s/1V-N71tGDmAuBYQB0urcjtg?pwd=saww) | [Link](https://1drv.ms/u/c/456d7446bf87dba3/IQDKZVxaW4FqRo498TVtYRZcAUA8YNhCLod6HHNx8kjUDXk?e=xHenf0) |
| Switzerland_seq37@200@0_30 | Biel, Switzerland | 47.1235 / 7.2386 | 200m | [0, 30] | [Link](https://pan.baidu.com/s/1BZ5xhXtRVIgvshlXFIMDug?pwd=saww) | [Link](https://1drv.ms/u/c/456d7446bf87dba3/IQAyjqqTZh1SQ6H6fUR809P7AWN2QP1DSTeRGCiaAvciog8?e=d7C2Ny) |
| Switzerland_seq38@300@30_50 | Biel, Switzerland | 47.1100 / 7.2220 | 300m | [30, 50] | [Link](https://pan.baidu.com/s/1xtmgiTP4AAqZfYMwkiE6Uw?pwd=saww) | [Link](https://1drv.ms/u/c/456d7446bf87dba3/IQBnpELQqv0lTKSQCpy3CAr8Aepkz62p-4Nzca85OYprEYk?e=Y8rjnV) |
| Switzerland_seq39@500@0_30 | Lugano, Switzerland | 45.9913 / 8.9424 | 500m | [0, 30] | [Link](https://pan.baidu.com/s/1ZkueiZzDVwpbSMg40lqQHA?pwd=saww) | [Link](https://1drv.ms/u/c/456d7446bf87dba3/IQAsNhYKuHvxSZpkTaV4j7ZQAbToaAHH5d-rPXWTZAxHnLE?e=oBIMBo) |
| Switzerland_seq40@200@30_50 | Thun, Switzerland | 46.7695 / 7.6109 | 200m | [30, 50] | [Link](https://pan.baidu.com/s/1c737YwjtxVI79LrMoNxFSA?pwd=saww) | [Link](https://1drv.ms/u/c/456d7446bf87dba3/IQAkgdzefMArSZLQkuMHpqIeAW83Ny_VjYqhkpV9YfzfxZw?e=lEMftC) |
| Switzerland_seq43@500@0_30 | Meyrin, Switzerland | 46.2205 / 6.0477 | 500m | [0, 30] | [Link](https://pan.baidu.com/s/1S7yWaeaHqfKHlehXUkETYA?pwd=saww) | [Link](https://1drv.ms/u/c/456d7446bf87dba3/IQCAtCTINPyeRLgS3UekZXM2AfxmCk7KwJmdZtKbsJewZns?e=DJ13n9) |
| Switzerland_seq44@200@0_30 | Lausanne, Switzerland | 46.5432 / 6.5679 | 200m | [0, 30] | [Link](https://pan.baidu.com/s/1Ig9z7jCOTK8D6FEa0N-WTQ?pwd=saww) | [Link](https://1drv.ms/u/c/456d7446bf87dba3/IQC4ZLTLclLySY8qE2v9yTtoAZw8wS7T5m_zmsa8c_l98ks?e=v9cVFJ) |
| Switzerland_seq45@500@30_50 | Lugano, Switzerland | 45.9938 / 8.9081 | 500m | [30, 50] | [Link](https://pan.baidu.com/s/1xj9_h-YUVVO7AXyUUgFCsg?pwd=saww) | [Link](https://1drv.ms/u/c/456d7446bf87dba3/IQB_V331XlPbSIuKPYxRZoG5Aa9C0LDTQxLzP6qhqFgZvGI?e=y0VWS9) |
| Switzerland_seq46@300@30_50 | Schaffhausen, Switzerland | 47.7004 / 8.6137 | 300m | [30, 50] | [Link](https://pan.baidu.com/s/1LzBirff2cbxvkzEWZmA79g?pwd=saww) | [Link](https://1drv.ms/u/c/456d7446bf87dba3/IQBp8FoDAJLARI1Ss3OMB403AVUHdp9-JvGDQjvPzl0K-VQ?e=MmFPGe) |
| Switzerland_seq47@200@0_30 | Schaffhausen, Switzerland | 47.7230 / 8.6519 | 200m | [0, 30] | [Link](https://pan.baidu.com/s/1e9YH1UucXIpgDi2FKA1WnQ?pwd=saww) | [Link](https://drive.google.com/file/d/1UxCoebZCFzE_bOIe0x2PfURxfVRm3qzb/view?usp=drive_link) |
| Switzerland_seq48@300@30_50 | Schaffhausen, Switzerland | 47.6934 / 8.6037 | 300m | [30, 50] | [Link](https://pan.baidu.com/s/1F3TPFxWmuLdvL-_ZJ7oLdA?pwd=saww) | [Link](https://drive.google.com/file/d/1vleNQmgh8-4RR-s9ksA83Ehlcpn0plpH/view?usp=drive_link) |
| Switzerland_seq49@500@0_30 | Sion, Switzerland | 46.2320 / 7.3857 | 500m | [0, 30] | [Link](https://pan.baidu.com/s/1bZc4qP4uRPR9hOJO2X-Y0w?pwd=saww) | [Link](https://drive.google.com/file/d/1Di9Iyj6om6IxhqzDnPBydZESrTUh4kUb/view?usp=drive_link) |
| Switzerland_seq50@200@30_50 | Zug, Switzerland | 47.1853 / 8.5280 | 200m | [30, 50] | [Link](https://pan.baidu.com/s/1dOvzt5MfBWSfruL3S3mfhg?pwd=saww) | [Link](https://drive.google.com/file/d/1wuDaozAEzu041tm8V9S3x-wujT5wJVib/view?usp=drive_link) |
| Switzerland_seq51@200@30_50 | Zug, Switzerland | 47.1870 / 8.4719 | 200m | [30, 50] | [Link](https://pan.baidu.com/s/1bgu8trMdZ5vPKI2ZO7d_Iw?pwd=saww) | [Link](https://drive.google.com/file/d/1aMGEimp0K93Pf3wXF9RyiEAPxsh46YG1/view?usp=drive_link) |
| Switzerland_seq52@300@0_30 | Zug, Switzerland | 47.2009 / 8.4735 | 300m | [0, 30] | [Link](https://pan.baidu.com/s/1H8VajSu2FH1siv0qC3n1Ug?pwd=saww) | [Link](https://drive.google.com/file/d/1uhtIMiat2d0OffOy1vnO6vHcx8IOo6Rg/view?usp=drive_link) |
| Switzerland_seq53@500@0_30 | Solothurn, Switzerland | 47.1969 / 7.5088 | 500m | [0, 30] | [Link](https://pan.baidu.com/s/1idUU55VJP593p4ljQdEoUA?pwd=saww) | [Link](https://drive.google.com/file/d/1qGRsiI7Pt7eSYe9a1Qnp0vgaYb76-50p/view?usp=drive_link) |
| USA_seq1@200@0_30 | Chicago, USA | 41.8891 / -87.6396 | 200m | [0, 30] | [Link](https://pan.baidu.com/s/1xZuCUFWpV9fLTcav2y5E1Q?pwd=saww) | [Link](https://drive.google.com/file/d/19Sa5d0EV8HOVxNMzp3aEOLdhnFCsMsbp/view?usp=drive_link) |
| USA_seq3@500@0_30 | Las Vegas, USA | 36.0927 / -115.1618 | 500m | [0, 30] | [Link](https://pan.baidu.com/s/1CU3tznF2Gg0nqnv2uxeEkw?pwd=saww) | [Link](https://drive.google.com/file/d/1K-7kxJg4l5C-v-lFEv9k5RXcDbaHLzGn/view?usp=drive_link) |
| USA_seq5@500@0_30 | New York, USA | 40.7302 / -73.9710 | 500m | [0, 30] | [Link](https://pan.baidu.com/s/11X7xPMZJwNkt1xXr6y4fVg?pwd=saww) | [Link](https://drive.google.com/file/d/1Qw3E4aQIO2l0dsR88l9L76aeq-TeSnR5/view?usp=drive_link) |
| USA_seq6@300@30_50 | San Francisco, USA | 37.7739 / -122.3873 | 300m | [30, 50] | [Link](https://pan.baidu.com/s/1PZ8RTTnljdKKbPkvNgC9OQ?pwd=saww) | [Link](https://drive.google.com/file/d/1abFrqcT9oSTk-HGFFN7TH2brVA1ZvJlQ/view?usp=drive_link) |
| USA_seq10@200@0_30 | Washington D.C., USA | 38.8798 / -76.9822 | 200m | [0, 30] | [Link](https://pan.baidu.com/s/1L9RsP5-nnZxsM3YSnduqvg?pwd=saww) | [Link](https://drive.google.com/file/d/1SndRD8Em3Emydn4kop1VxYqZtH_KQpvb/view?usp=drive_link) |

## Citation

If you find this dataset useful, please cite our CVPR 2026 Highlight paper:

```bibtex
@misc{cheng2026pilotneuralpixelto3dregistration,
      title={PiLoT: Neural Pixel-to-3D Registration for UAV-based Ego and Target Geo-localization}, 
      author={Xiaoya Cheng and Long Wang and Yan Liu and Xinyi Liu and Hanlin Tan and Yu Liu and Maojun Zhang and Shen Yan},
      year={2026},
      eprint={2603.20778},
      archivePrefix={arXiv},
      primaryClass={cs.CV},
      url={https://arxiv.org/abs/2603.20778}, 
}
```

## Licensing Information

**Copyright (c) 2026 Saw Lab, National University of Defense Technology (NUDT).**

The Dataset is provided for **non-commercial research and educational purposes only**. 

### Terms of Use:
* **Attribution**: You must provide appropriate credit to **Saw Lab, NUDT** and cite the corresponding CVPR 2026 paper in any derivative works or publications.
* **Non-Commercial**: Commercial use, including but not limited to selling the data or using it to train commercial models, is **strictly prohibited**.

---