Well, I suppose that if you're born and raised in some city square you get to know it pretty well! That's most of them that we see. The other pigeons use celestial navigation , Sun and Moon, the Earth's magnetic field, landmarks and memory of successful attempts, together with learning from others. All these elements have been established by experiment; perhaps the most interesting is the discovery that the birds appear to have a marked sensitivity to the magnetic field. This would form a simple basis for their navigation whatever the visibility or the time of day or night and would be innate, rather than learned.