SpatialRetrievalAD/nuScenes-Geography-Data

nuScenes-Geography
├── frame_metadata.json
├── pano_metadata.json
├── unavailable_metadata.json
├── sat
│   ├── boston-seaport.png
│   ├── singapore-hollandvillage.png
│   ├── singapore-onenorth.png
│   └── singapore-queenstown.png
└── streetview
    ├── quality_labels.json
    └── panos
        ├── <pano_id_0>.jpg
        └── <pano_id_1>.jpg

@misc{spad,
      title={Spatial Retrieval Augmented Autonomous Driving}, 
      author={Xiaosong Jia and Chenhe Zhang and Yule Jiang and Songbur Wong and Zhiyuan Zhang and Chen Chen and Shaofeng Zhang and Xuanhe Zhou and Xue Yang and Junchi Yan and Yu-Gang Jiang},
      year={2025},
      eprint={2512.06865},
      archivePrefix={arXiv},
      primaryClass={cs.CV},
      url={https://arxiv.org/abs/2512.06865}, 
}