Dataset Card for AirZoo Dataset

Total Size: Approximately TBD (packaging in progress).
Status: ⏳ Uploading...

Sequence Card

• Multi-Weather Trajectories: Each sequence contains 3–4 weather trajectories (e.g., sunny, cloudy, rainy, night) following the same flight path at the same altitude and pitch configuration.
• Data Modalities: Sequential frames are provided as *_0.png for RGB and *_1.npz for metric depth (float32, lossless conversion from PF depth).
• Pose & Metadata: Per-trajectory pose files (*.txt) and optional overlap validation files (*_validated.txt) are included in each sequence archive.
• Archive Layout: One .zip per sequence under <Country>/<Sequence>.zip (e.g., Argentina/Argentina_seq1.zip).
• Data Access:
  • Images & Depth: Download from the cloud drive links in the table below.
  • Index: See airzoo_sequence_index.json in this repository for the full variant list and frame counts.
• 🙋❗Note: Please download the reprojection code from this repo and run the demo first to verify the projection alignment and coordinate system.

Sequence Name	Location (Region)	Lat / Lng	Height	Pitch Range	Weather Variants	# Trajs	🔴 Baidu Netdisk	🔵 Google Drive
England_seq1@200@30_50	Oxford, UK	51.7345 / -1.2715	200m	[30, 50]	-	-	Link	Link
England_seq2@300@0_30	Oxford, UK	51.7653 / -1.2976	300m	[0, 30]	-	-	Link	Link
England_seq3@500@30_50	Manchester, UK	53.4687 / -2.2627	500m	[30, 50]	-	-	Link	Link
England_seq4@200@0_30	Manchester, UK	53.4846 / -2.2256	200m	[0, 30]	-	-	Link	Link
England_seq5@500@30_50	Manchester, UK	53.4689 / -2.3649	500m	[30, 50]	-	-	Link	Link
England_seq6@300@30_50	Coventry, UK	52.3789 / -1.5969	300m	[30, 50]	-	-	Link	Link
England_seq8@300@30_50	London, UK	51.5401 / -0.1380	300m	[30, 50]	-	-	Link	Link
England_seq10@200@30_50	Cambridge, UK	52.1964 / 0.0950	200m	[30, 50]	-	-	Link	Link
Finnish_seq1@200@30_50	Helsinki, Finland	60.1477 / 24.9221	200m	[30, 50]	-	-	Link	Link
Finnish_seq2@300@0_30	Helsinki, Finland	60.1913 / 24.9066	300m	[0, 30]	-	-	Link	Link
Finnish_seq4@200@0_30	Espoo, Finland	60.2041 / 24.7858	200m	[0, 30]	-	-	Link	Link
Finnish_seq5@500@30_50	Turku, Finland	60.4387 / 22.2074	500m	[30, 50]	-	-	Link	Link
Finnish_seq6@300@30_50	Turku, Finland	60.4617 / 22.2642	300m	[30, 50]	-	-	Link	Link
Finnish_seq8@300@30_50	Tampere, Finland	61.5100 / 23.7607	300m	[30, 50]	-	-	Link	Link
Finnish_seq10@200@30_50	Vantaa, Finland	60.3131 / 25.0673	200m	[30, 50]	-	-	Link	Link
France_seq1@200@30_50	Paris, France	48.8460 / 2.3116	200m	[30, 50]	-	-	Link	Link
France_seq2@300@0_30	Paris, France	48.8724 / 2.2739	300m	[0, 30]	-	-	Link	Link
France_seq4@200@0_30	Roissy-en-France, France	49.0151 / 2.5308	200m	[0, 30]	-	-	Link	Link
France_seq5@500@30_50	Paris, France	48.8805 / 2.3694	500m	[30, 50]	-	-	Link	Link
France_seq8@300@30_50	Metz, France	49.1235 / 6.1455	300m	[30, 50]	-	-	Link	Link
France_seq9@500@0_30	Bordeaux, France	44.8501 / -0.5819	500m	[0, 30]	-	-	Link	Link
France_seq10@200@30_50	Marseille, France	43.3191 / 5.3817	200m	[30, 50]	-	-	Link	Link
German_seq1@200@30_50	Munich, Germany	48.1544 / 11.5428	200m	[30, 50]	-	-	Link	Link
German_seq2@300@0_30	Aachen, Germany	50.7750 / 6.0724	300m	[0, 30]	-	-	Link	Link
German_seq4@200@0_30	Munich, Germany	48.1877 / 11.5741	200m	[0, 30]	-	-	Link	Link
German_seq5@500@30_50	Frankfurt, Germany	50.0439 / 8.5277	500m	[30, 50]	-	-	Link	Link
German_seq8@300@30_50	Berlin, Germany	52.4975 / 13.3710	300m	[30, 50]	-	-	Link	Link
German_seq9@500@0_30	Frankfurt, Germany	50.1100 / 8.6641	500m	[0, 30]	-	-	Link	Link
German_seq10@200@30_50	Heidelberg, Germany	49.4041 / 8.6462	200m	[30, 50]	-	-	Link	Link
Italy_seq1@200@30_50	Milan, Italy	45.4467 / 9.2271	200m	[30, 50]	-	-	Link	Link
Italy_seq2@300@0_30	Milan, Italy	45.4910 / 9.1526	300m	[0, 30]	-	-	Link	Link
Italy_seq3@500@30_50	Rome, Italy	41.9260 / 12.4894	500m	[30, 50]	-	-	Link	Link
Italy_seq4@200@0_30	Rome, Italy	41.9161 / 12.4628	200m	[0, 30]	-	-	Link	Link
Italy_seq5@500@30_50	Bologna, Italy	44.4906 / 11.3297	500m	[30, 50]	-	-	Link	Link
Italy_seq6@300@30_50	Bologna, Italy	44.4776 / 11.3755	300m	[30, 50]	-	-	Link	Link
Italy_seq8@300@30_50	Florence, Italy	43.8488 / 11.1064	300m	[30, 50]	-	-	Link	Link
Italy_seq9@500@0_30	Venice, Italy	45.4405 / 12.3005	500m	[0, 30]	-	-	Link	Link
Netherland_seq1@500@0_30	Amsterdam, Netherlands	52.3492 / 4.8506	500m	[0, 30]	-	-	Link	Link
Netherland_seq4@200@30_50	Amsterdam, Netherlands	52.3391 / 4.8653	200m	[30, 50]	-	-	Link	Link
Netherland_seq5@300@0_30	The Hague, Netherlands	52.0709 / 4.2502	300m	[0, 30]	-	-	Link	Link
Netherland_seq7@200@0_30	Delft, Netherlands	51.9898 / 4.3614	200m	[0, 30]	-	-	Link	Link
Netherland_seq8@500@30_50	Schiphol, Netherlands	52.3203 / 4.7171	500m	[30, 50]	-	-	Link	Link
Netherland_seq9@300@30_50	Maastricht, Netherlands	50.8688 / 5.6485	300m	[30, 50]	-	-	Link	Link
Netherland_seq10@200@0_30	Tilburg, Netherlands	51.5559 / 5.0494	200m	[0, 30]	-	-	Link	Link
spain_seq1@500@0_30	Barcelona, Spain	41.3697 / 2.1916	500m	[0, 30]	-	-	Link	Link
spain_seq2@300@30_50	Barcelona, Spain	41.3544 / 2.1485	300m	[30, 50]	-	-	Link	Link
spain_seq3@300@30_50	Valencia, Spain	39.4519 / -0.3441	300m	[30, 50]	-	-	Link	Link
spain_seq4@500@30_50	Valencia, Spain	39.4604 / -0.3035	500m	[30, 50]	-	-	Link	Link
spain_seq5@200@30_50	Madrid, Spain	40.5479 / -3.7035	200m	[30, 50]	-	-	Link	Link
spain_seq6@200@0_30	Madrid, Spain	40.4163 / -3.7145	200m	[0, 30]	-	-	Link	Link
spain_seq8@500@0_30	San Sebastián, Spain	43.3251 / -1.9178	500m	[0, 30]	-	-	Link	Link
spain_seq9@300@30_50	Seville, Spain	37.3611 / -6.0668	300m	[30, 50]	-	-	Link	Link
Switzerland_seq1@500@30_50	Lausanne, Switzerland	46.5368 / 6.5305	500m	[30, 50]	-	-	Link	Link
Switzerland_seq2@200@0_30	Basel, Switzerland	47.6281 / 7.5723	200m	[0, 30]	-	-	Link	Link
Switzerland_seq3@300@30_50	Zurich, Switzerland	47.3749 / 8.5493	300m	[30, 50]	-	-	Link	Link
Switzerland_seq5@300@0_30	Lausanne, Switzerland	46.5178 / 6.5259	300m	[0, 30]	-	-	Link	Link
Switzerland_seq6@200@30_50	Lausanne, Switzerland	46.5087 / 6.5445	200m	[30, 50]	-	-	Link	Link
Switzerland_seq7@500@30_50	Geneva, Switzerland	43.3265 / -1.9552	500m	[30, 50]	-	-	Link	Link
Switzerland_seq8@300@30_50	Geneva, Switzerland	43.3251 / -1.9178	300m	[30, 50]	-	-	Link	Link
Switzerland_seq9@500@30_50	Bern, Switzerland	37.3611 / -6.0668	500m	[30, 50]	-	-	Link	Link
Switzerland_seq10@200@0_30	Bern, Switzerland	37.3685 / -6.0130	200m	[0, 30]	-	-	Link	Link
Switzerland_seq12@300@0_30	Lucerne, Switzerland	47.0303 / 8.2557	300m	[0, 30]	-	-	Link	Link
Switzerland_seq13@500@0_30	Lucerne, Switzerland	47.0536 / 8.2621	500m	[0, 30]	-	-	Link	Link
Argentina_seq1	Argentina	-34.6114 / -58.4206	300m	[0,30], [0]	cloudy, night, rainy, sunset	4	Link	Link
Argentina_seq3	Argentina	-34.8274 / -58.5578	200m	[0,30], [0]	cloudy, night, sunny, sunset	4	Link	Link
Argentina_seq5	Argentina	-34.9033 / -57.9652	200m	[0,30], [0]	cloudy, foggy, night, sunny	4	Link	Link
Argentina_seq6	Argentina	-32.9390 / -60.6799	300m	[0], [30,60]	foggy, night, sunny, sunset	4	Link	Link
Athens_seq1	Athens, Greece	37.9759 / 23.7111	600m	[0,30], [0]	cloudy, foggy, night, rainy	4	Link	Link
Athens_seq2	Athens, Greece	38.0251 / 23.7748	500m	[0], [30,60]	foggy, night, rainy	4	Link	Link
Athens_seq3	Athens, Greece	40.6607 / 22.9541	700m	[0,30], [0]	foggy, rainy, sunny, sunset	4	Link	Link
Athens_seq4	Athens, Greece	35.5201 / 24.0168	400m	[0], [30,60]	night, rainy, sunny, sunset	4	Link	Link
Athens_seq5	Athens, Greece	35.3447 / 25.1367	100m	[0,30], [0]	foggy, night, rainy, sunset	4	Link	Link
Australia_seq11	Australia	-32.8336 / 151.3103	800m	[0], [60,80]	foggy, night, rainy, sunset	4	Link	Link
Australia_seq2	Australia	-37.7973 / 144.9450	500m	[0], [30,60]	night, rainy, sunny, sunset	4	Link	Link
Australia_seq3	Australia	-32.4337 / 115.7706	200m	[0,30], [0]	cloudy, night, sunny, sunset	4	Link	Link
Australia_seq4	Australia	-27.9779 / 153.4251	500m	[0], [30,60]	cloudy, foggy, night, sunset	4	Link	Link
Australia_seq6	Australia	-33.9226 / 151.1706	300m	[0], [30,60]	night, rainy, sunny, sunset	4	Link	Link
Australia_seq7	Australia	-33.9165 / 151.2098	500m	[0,30], [0]	foggy, night, sunny, sunset	4	Link	Link
Australia_seq9	Australia	-35.2780 / 149.1294	500m	[0,30], [0]	cloudy, night, sunny, sunset	4	Link	Link
Austria_seq1	Austria	48.2217 / 16.3674	800m	[0], [60,80]	cloudy, foggy, night, sunny	4	Link	Link
Brazil_seq1	Brazil	-15.7880 / -47.9012	300m	[0,30], [0]	night, rainy, sunny, sunset	4	Link	Link
Brazil_seq10	Brazil	-3.1137 / -59.9768	600m	[0], [30,60]	cloudy, night, rainy, sunset	4	Link	Link
Brazil_seq11	Brazil	-1.4025 / -48.4707	800m	[0], [60,80]	foggy, night, rainy, sunset	4	Link	Link
Brazil_seq3	Brazil	-22.9145 / -43.2395	100m	[0], [30,60]	cloudy, foggy, night, rainy	4	Link	Link
Brazil_seq7	Brazil	-22.9832 / -43.3935	700m	[0,30], [0]	foggy, night, rainy, sunny	4	Link	Link
Brazil_seq8	Brazil	-23.5683 / -46.7424	400m	[0], [30,60]	cloudy, foggy, night, sunny	4	Link	Link
Bulgaria_seq1	Bulgaria	42.7147 / 23.3266	300m	[0], [60,80]	cloudy, foggy, night, sunset	4	Link	Link
Canada_seq1	Canada	43.6343 / -79.4266	300m	[0,30], [0]	night, rainy, sunny, sunset	4	Link	Link
Canada_seq2	Canada	45.4835 / -73.5382	500m	[0], [30,60]	cloudy, night, sunny, sunset	4	Link	Link
Canada_seq3	Canada	49.1976 / -123.2083	200m	[0,30], [0]	night, rainy, sunny, sunset	4	Link	Link
Canada_seq4	Canada	53.5285 / -113.5261	600m	[0], [30,60]	cloudy, foggy, sunny, sunset	4	Link	Link
Canada_seq5_1	Canada	45.4364 / -75.7253	700m	[0]	cloudy, night	2	Link	Link
Canada_seq6	Canada	49.8837 / -97.1609	800m	[0], [30,60]	night, rainy, sunny, sunset	4	Link	Link
Czech_seq1	Czech Republic	50.0812 / 14.4045	700m	[0], [60,80]	cloudy, rainy, sunny, sunset	4	Link	Link
Denmark_seq1	Denmark	55.7157 / 12.5855	400m	[0,30], [0]	foggy, night, rainy, sunny	4	Link	Link
Denmark_seq3	Denmark	55.6350 / 12.6542	800m	[0,30], [0]	foggy, night, sunny, sunset	4	Link	Link
England_seq1	England, UK	51.5038 / -0.1944	300m	[0,30], [0]	night, rainy, sunny, sunset	4	Link	Link
England_seq11	England, UK	54.7103 / -1.2114	300m	[0], [60,80]	foggy, rainy, sunny, sunset	4	Link	Link
England_seq2	England, UK	51.4713 / -0.4983	500m	[0], [30,60]	night, rainy, sunny, sunset	4	Link	Link
England_seq3	England, UK	51.8705 / -2.2599	200m	[0,30], [0]	cloudy, night, sunny, sunset	4	Link	Link
England_seq4	England, UK	55.9467 / -3.2414	500m	[0], [30,60]	cloudy, night, sunny, sunset	4	Link	Link
England_seq5	England, UK	53.4302 / -2.9966	200m	[0,30], [0]	cloudy, night, sunny, sunset	4	Link	Link
HongKong_seq1	Hong Kong, China	22.2981 / 114.1554	300m	[0,30], [0]	foggy, night, sunny, sunset	4	Link	Link
HongKong_seq2	Hong Kong, China	22.2812 / 114.1785	500m	[0], [30,60]	cloudy, night, sunny	3	Link	Link
HongKong_seq3	Hong Kong, China	22.2948 / 114.1775	200m	[0,30], [0]	foggy, night, sunny, sunset	4	Link	Link
HongKong_seq4	Hong Kong, China	22.4104 / 114.2163	500m	[0], [30,60]	foggy, night, sunny, sunset	4	Link	Link
Hungary_seq1	Hungary	47.5114 / 19.0321	400m	[0], [60,80]	foggy, night, rainy, sunny	4	Link	Link
Iceland_seq1	Iceland	64.1590 / -22.0172	100m	[0,30], [0]	cloudy, foggy, night, sunset	4	Link	Link
Iceland_seq2	Iceland	64.1050 / -21.7769	700m	[0], [30,60]	cloudy, foggy, night, sunny	4	Link	Link
Iceland_seq3	Iceland	63.8923 / -22.4926	700m	[0], [60,80]	night, rainy, sunny, sunset	4	Link	Link
Iceland_seq4	Iceland	64.2274 / -21.0598	400m	[0], [60,80]	cloudy, foggy, night, sunset	4	Link	Link
Japan_seq10	Japan	33.5554 / 130.3501	100m	[0], [30,60]	cloudy, foggy, rainy, sunset	4	Link	Link
Japan_seq2	Japan	35.3785 / 138.8549	500m	[0], [30,60]	night, rainy, sunny, sunset	4	Link	Link
Japan_seq3	Japan	35.6582 / 139.7416	200m	[0,30], [0]	foggy, rainy, sunny, sunset	4	Link	Link
Japan_seq5	Japan	35.5614 / 139.7586	200m	[0,30], [0]	foggy, night, rainy, sunset	4	Link	Link
Japan_seq6	Japan	35.4367 / 139.6286	300m	[0], [30,60]	foggy, night, sunny, sunset	4	Link	Link
Japan_seq8	Japan	34.3714 / 132.4448	300m	[0], [30,60]	foggy, night, sunny, sunset	4	Link	Link
Japan_seq9	Japan	34.8261 / 134.6686	500m	[0,30], [0]	night, rainy, sunny, sunset	4	Link	Link
Macao_seq1	Macao, China	22.1724 / 113.5594	200m	[0,30], [0]	cloudy, night, sunny, sunset	4	Link	Link
Mexico_seq1	Mexico	19.4438 / -99.1390	600m	[0,30], [0]	cloudy, rainy, sunny, sunset	4	Link	Link
Mexico_seq2	Mexico	19.4457 / -99.0568	700m	[0], [30,60]	foggy, rainy, sunny, sunset	4	Link	Link
Mexico_seq3	Mexico	19.3267 / -99.1999	800m	[0,30], [0]	cloudy, foggy, night, sunset	4	Link	Link
Mexico_seq4	Mexico	20.6936 / -103.3479	400m	[0], [30,60]	cloudy, night, rainy, sunset	4	Link	Link
Mexico_seq5	Mexico	25.6679 / -100.3052	100m	[0,30], [0]	cloudy, night, rainy, sunset	4	Link	Link
Newzealand_seq1	New Zealand	-36.9734 / 174.7721	300m	[0,30], [0]	night, rainy, sunny, sunset	4	Link	Link
Newzealand_seq4	New Zealand	-43.5466 / 172.5134	500m	[0], [30,60]	cloudy, night, sunny, sunset	4	Link	Link
Newzealand_seq6	New Zealand	-37.0179 / 174.7691	300m	[0], [30,60]	cloudy, night, rainy, sunset	4	Link	Link
Newzealand_seq7	New Zealand	-45.1187 / 170.9593	500m	[0,30], [0]	cloudy, foggy, sunny, sunset	4	Link	Link
Newzealand_seq8	New Zealand	-41.2991 / 174.7618	300m	[0], [30,60]	foggy, night, sunny, sunset	4	Link	Link
Newzealand_seq9	New Zealand	-45.8655 / 170.4534	500m	[0,30], [0]	cloudy, night, sunny, sunset	4	Link	Link
Norway_seq11	Norway	58.0687 / 7.7876	500m	[0], [60,80]	cloudy, night, rainy, sunny	4	Link	Link
Poland_seq1	Poland	52.2355 / 21.0389	200m	[0], [60,80]	foggy, night, rainy, sunny	4	Link	Link
Singapore_seq1	Singapore	1.2978 / 103.7764	400m	[0,30], [0]	cloudy, foggy, night, sunny	4	Link	Link
Singapore_seq11	Singapore	1.3731 / 103.8337	700m	[0], [60,80]	cloudy, foggy, night, sunset	4	Link	Link
Singapore_seq2	Singapore	1.2954 / 103.8473	600m	[0], [30,60]	cloudy, foggy, rainy, sunset	4	Link	Link
SouthAfrica_seq10	South Africa	-33.9005 / 18.3990	800m	[0], [30,60]	cloudy, night, rainy, sunny	4	Link	Link
SouthAfrica_seq11	South Africa	-33.7929 / 18.4613	600m	[0], [60,80]	foggy, night, sunny, sunset	4	Link	Link
SouthAfrica_seq2	South Africa	-26.1728 / 28.0414	500m	[0], [30,60]	foggy, night, sunny, sunset	4	Link	Link
SouthAfrica_seq4	South Africa	-25.7332 / 28.1695	500m	[0], [30,60]	cloudy, night, sunny, sunset	4	Link	Link
SouthAfrica_seq6	South Africa	-26.1210 / 28.0369	400m	[0], [30,60]	foggy, rainy, sunny, sunset	4	Link	Link
SouthAfrica_seq7	South Africa	-33.9592 / 18.5805	100m	[0,30], [0]	cloudy, foggy, sunny, sunset	4	Link	Link
SouthAfrica_seq8	South Africa	-26.2469 / 27.8933	700m	[0], [30,60]	cloudy, foggy, sunny, sunset	4	Link	Link
Switzerland_seq1	Switzerland	46.6764 / 7.8291	600m	[0,30], [0]	cloudy, night, rainy, sunny	4	Link	Link
Switzerland_seq11	Switzerland	47.3128 / 7.9340	100m	[0], [60,80]	cloudy, foggy, rainy, sunny	4	Link	Link
Switzerland_seq2	Switzerland	46.7376 / 8.1654	800m	[0], [30,60]	cloudy, rainy, sunny, sunset	4	Link	Link
Switzerland_seq3	Switzerland	46.1024 / 7.9481	400m	[0,30], [0]	foggy, night, rainy, sunset	4	Link	Link
Taiwan_seq1	Taiwan, China	25.0212 / 121.5356	300m	[0,30], [0]	foggy, night, sunny, sunset	4	Link	Link
Taiwan_seq11	Taiwan, China	24.9405 / 121.2087	200m	[0], [60,80]	cloudy, night, rainy, sunny	4	Link	Link
Taiwan_seq2	Taiwan, China	25.0319 / 121.4580	500m	[0], [30,60]	cloudy, night, sunny, sunset	4	Link	Link
Taiwan_seq4	Taiwan, China	24.0873 / 120.6788	500m	[0], [30,60]	foggy, night, sunny, sunset	4	Link	Link
USA_seq11	USA	39.1816 / -96.5582	400m	[0], [60,80]	cloudy, foggy, rainy, sunset	4	Link	Link
USA_seq12	USA	25.7661 / -80.1350	600m	[0], [60,80]	cloudy, night, rainy, sunny	4	Link	Link
USA_seq3	USA	42.3514 / -71.1369	200m	[0,30], [0]	cloudy, night, sunny, sunset	4	Link	Link
USA_seq4	USA	47.6270 / -122.3633	600m	[0], [30,60]	foggy, night, sunny, sunset	4	Link	Link
USA_seq5	USA	39.9299 / -75.1545	700m	[0,30], [0]	cloudy, foggy, sunny, sunset	4	Link	Link
USA_seq6	USA	41.2054 / -112.0662	800m	[0], [30,60]	cloudy, foggy, sunny, sunset	4	Link	Link
USA_seq7	USA	27.0912 / -82.4349	100m	[0,30], [0]	cloudy, foggy, night, sunny	4	Link	Link
USA_seq8	USA	34.0375 / -118.2847	400m	[0], [30,60]	foggy, night, sunny, sunset	4	Link	Link

Citation

If you find this dataset useful, please cite:

@misc{airzoo2026,
      title={AirZoo: A Large-Scale Multi-Weather UAV Geo-localization Dataset},
      author={TBD},
      year={2026},
      note={Dataset card and citation to be updated upon publication},
}

Licensing Information

Copyright (c) 2026 Saw Lab, National University of Defense Technology (NUDT).

The Dataset is provided for non-commercial research and educational purposes only.

Terms of Use:

• Attribution: You must provide appropriate credit to Saw Lab, NUDT and cite the corresponding paper in any derivative works or publications.
• Non-Commercial: Commercial use, including but not limited to selling the data or using it to train commercial models, is strictly prohibited.

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