---
license: cc-by-nc-sa-4.0
language:
- en
tags:
- nuscenes
- autonomous-driving
pretty_name: nuScenes-Geography
size_categories:
- 1K<n<10K
---
# Spatial Retrieval Augmented Autonomous Driving

For more details about the dataset and the project, please visit  [Spatial Retrieval Augmented Autonomous Driving](https://spatialretrievalad.github.io/).

## nuScenes-Geography Dataset

```
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
```


## Citation

```bibtex
@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}, 
}
```