{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/uavd4l-a-large-scale-dataset-for-uav-6-dof","title":"UAVD4L: A Large-Scale Dataset for UAV 6-DoF Localization","arxiv_id":"2401.05971","date":"2024-01-11","proceeding":null,"authors":["Rouwan Wu","Xiaoya Cheng","Juelin Zhu","Xuxiang Liu","Maojun Zhang","Shen Yan"],"abstract":"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","url_abs":"https://arxiv.org/abs/2401.05971v1","url_pdf":"https://arxiv.org/pdf/2401.05971v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"uavd4l-a-large-scale-dataset-for-uav-6-dof","repo_url":"https://github.com/ringowrw/uavd4l","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"synthetic-data-generation","task_name":"Synthetic Data Generation"},{"task_slug":"visual-localization","task_name":"Visual Localization"}],"methods":[{"method_slug":"focus","method_name":"Focus"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2401.05971","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2401.05971"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. Samples come from repositories linked to the paper, official or community; repo_kind says which.","repos":[{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/ringowrw/uavd4l","reach":null}],"summary":{"ran_honours":1,"unverified":1},"by_repo_kind":{"official":{"samples":2,"ran":1,"repositories":1}},"repo_kind_vocabulary":{"official":"The archive marks this repository official for the paper","named_in_paper":"The archive records that the paper mentions this repository; it is not marked official","listed":"In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper","found_in_text":"Syntology found this repository in the paper's own text; whether it is the authors' implementation is not asserted","community":"Not in the archive's code links for this paper; a community repository Syntology harvested"},"n_pointer_only_for_licence":2,"samples":[{"code_sha256_prefix":"dc696698a6226f06","entry":"get_scan_pose","repo":"ringowrw/uavd4l","repo_kind":"official","path":"hloc/localize_inloc.py","file_url":"https://github.com/ringowrw/uavd4l/blob/HEAD/hloc/localize_inloc.py","link_basis":"first_harvest_node","language":"python","status":"ran_honours","verification_level":1,"contract_check":"HONOURS","metamorphic_tier":"well_formed","behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"dc696698a6226f06"}},{"code_sha256_prefix":"f5474909d669b0e5","entry":"interpolate_scan","repo":"ringowrw/uavd4l","repo_kind":"official","path":"hloc/localize_inloc.py","file_url":"https://github.com/ringowrw/uavd4l/blob/HEAD/hloc/localize_inloc.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"f5474909d669b0e5"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}