1 Details about Extended Touchdown Dataset

First, we choose some panorama IDs in the test data of the Touchdown dataset and download the panoramasin equirectangular projection. Then we slice each into eight images and project them to perspective projection. Next we put touchdowns on the target locations in the panoramas and write some language descriptions to instruct people to find them. After that, we also ask some volunteers to double check the annotations by looking for the target with the language we annotate. In addition, these data are collected from the New York StreetView.