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OpenCVL: An Open, Diverse, and Large-Scale Dataset for Fine-Grained Cross-View Localization

arXiv · AI, language, vision and robotics · article · Aug 26, 2026 · UTC

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 contain

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