OpenCVL: An Open, Diverse, and Large-Scale Dataset for Fine-Grained Cross-View Localization
Fine-grained Cross-View Localization (CVL) estimates the precise position and orientation of a ground-level image by aligning it with geo-referenced aerial imagery, offering a scalable alternative to Global Navigation Satellite Systems (GNSS) in challenging urban environments. Existing datasets rely on data collected with high-end sensor suites, which inherently limit image diversity and scalability. While in-the-wild images are abundant, their noisy geo-tags make them unsuitable for reliable evaluation. To bridge this gap, we introduce OpenCVL, a large-scale, diverse, and open dataset containing 617,388 ground-aerial image pairs spanning 41 cities across four European countries. All images are sourced from permissive platforms, ensuring long-term accessibility and supporting open and reproducible research. The training set combines images captured with high-end sensors with diverse in-the-wild imagery. We further develop a data curation framework that filters and corrects pose annotations to construct reliable in-the-wild evaluation data. In addition, OpenCVL includes dedicated cross-area and snowy test sets to assess generalization and robustness. Experiments with a state-of-the-art CVL model on OpenCVL show that incorporating noisy in-the-wild data consistently improves performance on clean test sets, suggesting a promising direction for scaling CVL with diverse real-world imagery.
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Xia, Z., Zaffar, M., Fu, J., Alahi, A., & Kooij, J. F. P. (2026). OpenCVL: An Open, Diverse, and Large-Scale Dataset for Fine-Grained Cross-View Localization. In P. Favaro, Z. Kukelova, A. Maki, A. Rohrbach, K. Schindler, & F. Tombari (Editors), Computer Vision – ECCV 2026. 19th European Conference, Malmö, Sweden, September 8–12, 2026, Proceedings, Part XXXIX. https://doi.org/10.1007/978-3-032-37435-6_4
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