Low-altitude UAV flight recordings and a georeferenced orthophoto for visual geolocalization (Liptovský Mikuláš, Slovakia)

Data accompanying the paper Spatial Structure in UAV Visual Geolocalization: Controlled Evaluation of Descriptor Pooling and Geographic Index Partitioning (Suchý and Turčaník, submitted for review, 2026). Reference map. An extract of the Slovak national orthophoto mosaic (Ortofotomozaika SR, 3rd cycle 2023–2025, Stred 2024 (RGB), GKÚ Bratislava and NLC Zvolen, published by ÚGKK SR) covering 18.29 km² near Liptovský Mikuláš, in EPSG:5514 at 0.15 m ground sampling distance. Synthetic queries. 200 query images generated from the same mosaic with controlled rotation, scale and brightness perturbations. Real flights. Three DJI Mavic Pro flights over the mapped area at nominal altitudes of 80, 100 and 120 m above ground level, recorded as 1920×1080 video at 29.97 fps with the original DJI SRT telemetry, together with the frames extracted at 1 Hz that were used in the evaluation (359, 380 and 365 frames respectively, 1104 in total) and their ground-truth positions in EPSG:5514. The 3213 map tiles are not distributed as image files. Each tile is a fixed integer window into the orthophoto; the windows, together with the assignment of tiles to pages, are defined by the tile catalogues in the code repository, one per page size (2048 m, 1000 m and 600 m, giving 6, 20 and 63 pages). Tiles are read directly from the GeoTIFF at run time. File layout. The flight data are distributed as three independent archives, flights-part01.zip, flights-part02.zip and flights-part03.zip, one per flight, because a single combined archive exceeds the per-file upload limit. They are not a multi-volume archive: each is extracted on its own, and extracting all three into one directory yields flight_080m_01/, flight_100m_01/ and flight_120m_01/ side by side, which is the layout the code expects. Ground truth. Each flight archive contains ground_truth.csv with the columns filename, lat, lon, alt_m, yaw_deg, so the archive is self-contained. The same three files are also in the code repository under metadata/, named per flight, because the example commands refer to them there. The copies are byte-identical; the archived copy is authoritative. The yaw_deg column is empty for every frame: the aircraft telemetry carries no heading, which is one of the acquisition limitations analysed in the paper. Code, tile catalogues and synthetic query parameters: https://github.com/isuchy/uav-geolocalization-spatial-structure