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M3GA-Wild: A Large-Scale Dataset and Benchmark for Multi-Modal Multi-session Ground-to-Aerial Place Recognition in Forests

arXiv · AI, language, vision and robotics · article · Sep 19, 2026 · UTC

We present M3GA-Wild, the first benchmark for multi-modal, multi-session ground-to-aerial place recognition in forests. M3GA-Wild unifies and extends existing forest localisation datasets, providing a holistic benchmark with synchronised RGB imagery and LiDAR from ground traversals spanning 36 km, aligned high-resolution aerial imagery and multi-altitude LiDAR covering 370 hectares, and accurate geo-referenced 6-DoF poses for precise evaluation. M3GA-Wild captures diverse forest scenes with varying viewpoints, occlusion, and environmental conditions, enabling systematic evaluation of visual, L

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