Initial commit: World-UAV annotation pipeline

4-modality annotation pipeline (depth, edges, segmentation, chmv2) for 973K
drone/satellite images. SegEarth-OV3 open-vocabulary segmentation with 11
classes optimized for cross-view geo-localization.

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

in/config_files/hardware.gin

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+# Hardware profile: GPU, precision, batch size
+HardwareConfig.profile_name = 'rtx4090'
+HardwareConfig.total_ram_gb = 24.0
+HardwareConfig.reserve_gb = 2.0
+HardwareConfig.use_fp16 = True
+HardwareConfig.batch_size = None
+HardwareConfig.num_workers = 4

in/config_files/input.gin

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+# Image preprocessing parameters
+InputConfig.image_size = 256            # DB (satellite) resolution
+InputConfig.query_image_size = 512      # Query (drone) resolution
+InputConfig.sobel_kernel_size = 3
+InputConfig.edge_normalize = True
+InputConfig.imagenet_mean = [0.485, 0.456, 0.406]
+InputConfig.imagenet_std = [0.229, 0.224, 0.225]

in/config_files/models.gin

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+# Model identifiers and fallback strategies
+ModelsConfig.depth_model_id = 'DA3-LARGE-1.1'
+ModelsConfig.depth_fallback_id = 'depth-anything/Depth-Anything-V2-Large-hf'
+ModelsConfig.chmv2_model_id = 'facebook/dinov3-vitl16-chmv2-dpt-head'
+ModelsConfig.seg_model_type = 'segearth-ov3'
+ModelsConfig.seg_fallback_type = 'segformer-b5'
+ModelsConfig.seg_fallback_id = 'nvidia/segformer-b5-finetuned-ade-640-640'
+# Local directory for downloading and caching model weights (leave empty for HF default cache)
+ModelsConfig.weights_dir = 'in/weights'

in/config_files/pipeline.gin

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+# Pipeline configuration: what to process and where to save
+PipelineConfig.input_root = '/mnt/data1tb/cvgl_datasets/UAV-GeoLoc'
+PipelineConfig.output_root = '/mnt/data1tb/cvgl_datasets/World-UAV-aug'
+PipelineConfig.stages = ['depth', 'edges', 'segmentation', 'chmv2']
+PipelineConfig.save_npy = False
+PipelineConfig.save_vis = True
+PipelineConfig.save_concat = False
+PipelineConfig.resume = True
+PipelineConfig.subset = None
+# Source filter: 'db' = satellite only, 'query' = drone/UAV only, None = both
+PipelineConfig.source = 'query' #'db'
+PipelineConfig.log_level = 'INFO'

in/config_files/segmentation.gin

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+# Open-vocabulary segmentation parameters
+# 12 cross-view invariant classes for geo-localization
+# See docs/segmentation_class_analysis.md for full rationale
+SegConfig.prompts = [
+    'background',              # 0  — unclassified
+    'building',                # 1  — buildings, rooftops
+    'road',                    # 2  — roads, asphalt
+    'vegetation',              # 3  — trees, bushes, forest canopy
+    'water',                   # 4  — rivers, canals, sea, lakes
+    'sand and gravel ground',  # 5  — soil, gravel, sand, dust, bare earth
+    'rocky terrain',           # 6  — rock, stone, lava, canyon walls
+    'farmland',                # 7  — agricultural terraces, fields
+    'railway',                 # 8  — railway tracks, rails
+    'parking lot',             # 9  — parking areas
+    'sidewalk',                # 10 — sidewalks, pedestrian zones, embankments
+]
+SegConfig.threshold = 0.15
+SegConfig.default_resolution = 1008