cf455cd0f3
- Drone images now 512x512 (not 256x256) - Satellite crops saved at native 512x512 (no downscale) - Dataset generated: 25 GB on disk - Added known issue: 6 drones in route 06 outside satellite coverage Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
143 lines
4.9 KiB
Markdown
143 lines
4.9 KiB
Markdown
# UAV-VisLoc Dataset Preparation
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Prepare UAV-VisLoc dataset for cross-view geo-localization retrieval training.
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Generates satellite crops, GPS-matched drone-crop pairs, and Index files
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compatible with UAV-GeoLoc format.
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## Pipeline
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```
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UAV_VisLoc_dataset/ UAV_VisLoc_processed/
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├── 01/ ├── 01/
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│ ├── drone/*.JPG (3976x2652) ---> │ ├── drone/*.JPG (512x512)
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│ ├── satellite01.tif ---> │ ├── DB/img/crop_X_Y.png (512x512)
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│ └── 01.csv │ ├── DB/db_postion.txt
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│ │ ├── positive.json
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├── ... │ └── semi_positive.json
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├── 09/ ├── ...
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│ ├── satellite09_01-01.tif --+ ├── 09/ (stitched from 4 tiles)
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│ ├── satellite09_01-02.tif +--> │ ├── DB/img/ (~22K crops)
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│ ├── satellite09_02-01.tif | │ └── ...
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│ └── satellite09_02-02.tif --+ │
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├── satellite_ coordinates_range.csv └── Index/
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├── visloc_train.csv ├── train_query.txt
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└── visloc_test.csv ├── test_query.txt
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├── train_db.txt
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├── test_db.txt
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└── all_db.txt
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```
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## Quick Start
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```bash
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python scripts/prepare_dataset.py \
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--src /path/to/UAV_VisLoc_dataset \
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--dst /path/to/UAV_VisLoc_processed \
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--crop-size 512 --stride 256 --target-size 256
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```
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To process specific routes only:
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```bash
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python scripts/prepare_dataset.py --src ... --dst ... --routes 01 02 03
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```
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## Steps
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1. **Resize drone images** -> 512x512 JPEG (quality=95)
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2. **Stitch satellite tiles** for route 09 (4 tiles -> 44800x33280)
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3. **Crop satellite maps** -> 512x512 patches, stride 256 (50% overlap), saved as 512x512 PNG
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4. **Compute GPS** for each crop center from satellite bbox + grid position
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5. **Match drone -> crops** via vectorized haversine (positive = closest, semi-positive = +-1 in grid)
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6. **Write metadata**: positive.json, semi_positive.json, db_postion.txt (per route)
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7. **Generate Index files**: train_query.txt, test_query.txt, train_db.txt, test_db.txt, all_db.txt
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## Output Format (UAV-GeoLoc compatible)
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### Index files
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**train_query.txt / test_query.txt:**
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```
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01/drone/01_0001.JPG 0 01/DB/img/crop_5_18.png 01/DB/img/crop_4_17.png ...
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```
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Format: `query_path label positive_crop semi_positive_crops...`
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**train_db.txt / test_db.txt / all_db.txt:**
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```
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01/DB/img/crop_0_0.png
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01/DB/img/crop_0_1.png
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...
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```
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Full gallery (all 74,807 crops), identical for train and test (split is by query).
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### Per-route metadata
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**positive.json:**
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```json
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{"0001": ["crop_5_18.png"], "0002": ["crop_5_19.png"], ...}
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```
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Keys are frame IDs (without route prefix).
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**semi_positive.json:**
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```json
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{"0001": ["crop_4_17.png", "crop_4_18.png", ...], ...}
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```
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8 neighbors (+-1 in grid) of the positive crop.
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**db_postion.txt** (tab-separated, matching UAV-GeoLoc spelling):
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```
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crop_0_0.png 115.97197337 29.77349180 2.68e-06 -2.68e-06
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```
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Columns: name, longitude, latitude, scale_lon (deg/px), scale_lat (deg/px).
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## Dataset Statistics
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| Route | Drone | Crops | Region | Satellite (px) |
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|-------|-------|-------|--------|----------------|
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| 01 | 817 | 3,811 | Changjiang | 9774x26762 |
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| 02 | 1,071 | 5,676 | Changjiang | 11482x34291 |
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| 03 | 768 | 12,648 | Taizhou | 35092x24308 |
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| 04 | 738 | 10,281 | Taizhou | 18093x38408 |
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| 05 | 473 | 805 | Yunnan | 9394x6144 |
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| 06 | 344 | 1,110 | Zhuxi | 8082x9780 |
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| 07 | -- | -- | Excluded | 3000x170 (too narrow) |
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| 08 | 1,033 | 10,416 | Huzhou | 43421x16294 |
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| 09 | 766 | 22,446 | Huzhou | 44800x33280 (stitched) |
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| 10 | 144 | 432 | Huailai | 6593x5077 |
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| 11 | 590 | 7,182 | Shandan | 29592x16582 |
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| **Total** | **6,744** | **74,807** | | |
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Split: 5,060 train / 1,684 test queries. Gallery: 74,807 crops (shared).
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Disk size: **25 GB**.
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## Image Resolution
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All images stored at **512x512** on disk:
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- Drone: resized from 3976x2652 / 3000x2000 -> 512x512
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- Satellite crops: cut at 512x512 from satellite map, no downscale
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Resolution 512 chosen to support downstream tasks (segmentation, depth, normals, canopy height).
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Resize to 224/256 for model input should be done in the dataloader, not on disk.
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## GPS Matching Quality
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- Median distance drone -> positive crop: **25.9m**
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- P99: **45.7m**
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- Known issue: 6 drones in route 06 (06_0093-06_0098) are outside satellite coverage (~1,091m to nearest crop)
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## Satellite Resolution
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All maps: ~0.30 m/pixel (single Google Earth zoom level).
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One crop 512x512 covers ~154x154m on the ground.
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## Requirements
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```
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numpy
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Pillow
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```
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## Memory
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Peak RAM usage: ~8.7 GB (route 09 stitching: 4 tiles + merged image).
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Other routes: 1-3 GB.
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