PEnG

This dataset builds upon the SpaGBOL dataset - a graph-based dataset covering numerous cities across the globe for the purpose of structured city-scale Cross-View Geo-Localisation (CVGL).

We introduce the idea of Multi-View Geo-Localisation (MVGL) - localising in two steps within a graph. First using CVGL to retrieve the most likely primary nodes (road junctions), before performing relative pose estimation also candidate edges to increase precision. The corresponding initial network proposed reduced median error from hundreds of metres down to approximately 22m error across the entire dataset.