Visual Place Recognition

Visual Place Recognition is the task of matching a view of a place with a different view of the same place taken at a different time.

Source: Visual place recognition using landmark distribution descriptors

Image credit: Visual place recognition using landmark distribution descriptors

Papers

Recently Added Most Hyped Most Active Needs Verification Most Verified

Showing 101–150 of 297 papers

Title	Date	Tasks	Status	Hype
How Many Events do You Need? Event-based Visual Place Recognition Using Sparse But Varying Pixels	Jun 28, 2022	Visual Place Recognition	CodeCode Available	1
HPointLoc: Point-based Indoor Place Recognition using Synthetic RGB-D Images	Dec 30, 2022	Image RetrievalRetrieval	CodeCode Available	1
SOE-Net: A Self-Attention and Orientation Encoding Network for Point Cloud based Place Recognition	Nov 24, 2020	3D Place RecognitionMetric Learning	CodeCode Available	1
Image-Based Relocalization and Alignment for Long-Term Monitoring of Dynamic Underwater Environments	Mar 6, 2025	Image SegmentationManagement	CodeCode Available	1
Improving Point Cloud Based Place Recognition with Ranking-based Loss and Large Batch Training	Mar 2, 2022	3D Place RecognitionImage Retrieval	CodeCode Available	1
DASGIL: Domain Adaptation for Semantic and Geometric-aware Image-based Localization	Oct 1, 2020	Autonomous DrivingDomain Adaptation	CodeCode Available	1
Improving Visual Place Recognition Based Robot Navigation By Verifying Localization Estimates	Jul 11, 2024	PositionRobot Navigation	CodeCode Available	1
Data-efficient Large Scale Place Recognition with Graded Similarity Supervision	Mar 21, 2023	Re-RankingVisual Localization	CodeCode Available	1
Inside Out Visual Place Recognition	Nov 26, 2021	Data AugmentationVisual Place Recognition	CodeCode Available	1
Adaptive-Attentive Geolocalization from few queries: a hybrid approach	Oct 14, 2020	Domain AdaptationUnsupervised Domain Adaptation	CodeCode Available	1
JIST: Joint Image and Sequence Training for Sequential Visual Place Recognition	Mar 28, 2024	Multi-Task LearningVisual Place Recognition	CodeCode Available	1
Tightly Coupled Learning Strategy for Weakly Supervised Hierarchical Place Recognition	Feb 14, 2022	Computational EfficiencyDynamic Time Warping	—Unverified	0
VIPeR: Visual Incremental Place Recognition with Adaptive Mining and Continual Learning	Jul 31, 2024	Continual LearningKnowledge Distillation	—Unverified	0
24/7 Place Recognition by View Synthesis	Jun 1, 2015	Visual Place Recognition	—Unverified	0
2D Visual Place Recognition for Domestic Service Robots at Night	May 25, 2016	Visual Place Recognition	—Unverified	0
A Benchmark Comparison of Visual Place Recognition Techniques for Resource-Constrained Embedded Platforms	Sep 22, 2021	Autonomous NavigationRaspberry Pi 3	—Unverified	0
A Complementarity-Based Switch-Fuse System for Improved Visual Place Recognition	Mar 1, 2023	Visual Place Recognition	—Unverified	0
A Dataset for Benchmarking Image-Based Localization	Jul 1, 2017	BenchmarkingImage-Based Localization	—Unverified	0
Adversarial Training for Adverse Conditions: Robust Metric Localisation using Appearance Transfer	Mar 9, 2018	Appearance TransferVisual Place Recognition	—Unverified	0
A Faster, Lighter and Stronger Deep Learning-Based Approach for Place Recognition	Nov 27, 2022	Camera LocalizationLoop Closure Detection	—Unverified	0
Aggregating Multiple Bio-Inspired Image Region Classifiers For Effective And Lightweight Visual Place Recognition	Dec 20, 2023	Computational EfficiencyRetrieval	—Unverified	0
A Hyperdimensional One Place Signature to Represent Them All: Stackable Descriptors For Visual Place Recognition	Dec 9, 2024	AllDimensionality Reduction	—Unverified	0
AirRoom: Objects Matter in Room Reidentification	Mar 3, 2025	ObjectSemantic Segmentation	—Unverified	0
A Multi-Domain Feature Learning Method for Visual Place Recognition	Feb 26, 2019	AttributeVisual Place Recognition	—Unverified	0
A-MuSIC: An Adaptive Ensemble System For Visual Place Recognition In Changing Environments	Mar 24, 2023	Robot NavigationVisual Place Recognition	—Unverified	0
An Efficient and Scalable Collection of Fly-inspired Voting Units for Visual Place Recognition in Changing Environments	Sep 22, 2021	Computational EfficiencyVisual Place Recognition	—Unverified	0
An Evaluation and Ranking of Different Voting Schemes for Improved Visual Place Recognition	May 9, 2023	SociologyVisual Place Recognition	—Unverified	0
A Novel Image Descriptor with Aggregated Semantic Skeleton Representation for Long-term Visual Place Recognition	Feb 8, 2022	Semantic SegmentationSimultaneous Localization and Mapping	—Unverified	0
Are State-of-the-art Visual Place Recognition Techniques any Good for Aerial Robotics?	Apr 16, 2019	Visual Place Recognition	—Unverified	0
ARTiS: Appearance-based Action Recognition in Task Space for Real-Time Human-Robot Collaboration	Oct 18, 2016	Action RecognitionOne-Shot Learning	—Unverified	0
Astra: Toward General-Purpose Mobile Robots via Hierarchical Multimodal Learning	Jun 6, 2025	Robot NavigationSelf-Supervised Learning	—Unverified	0
Attentional Pyramid Pooling of Salient Visual Residuals for Place Recognition	Jan 1, 2021	Visual Place Recognition	—Unverified	0
Attention-Aware Age-Agnostic Visual Place Recognition	Sep 11, 2019	Domain AdaptationImage Retrieval	—Unverified	0
Attention-based Pyramid Aggregation Network for Visual Place Recognition	Aug 1, 2018	Image RetrievalRetrieval	—Unverified	0
Augmenting Visual Place Recognition with Structural Cues	Feb 29, 2020	Visual Place Recognition	—Unverified	0
A Visual-inertial Localization Algorithm using Opportunistic Visual Beacons and Dead-Reckoning for GNSS-Denied Large-scale Applications	Nov 29, 2024	Visual Place Recognition	—Unverified	0
Beyond ANN: Exploiting Structural Knowledge for Efficient Place Recognition	Mar 15, 2021	Loop Closure DetectionVisual Place Recognition	—Unverified	0
Boosting Performance of a Baseline Visual Place Recognition Technique by Predicting the Maximally Complementary Technique	Oct 14, 2022	Visual Place Recognition	—Unverified	0
CAMAL: Context-Aware Multi-layer Attention framework for Lightweight Environment Invariant Visual Place Recognition	Sep 18, 2019	Image RetrievalRetrieval	—Unverified	0
ClusVPR: Efficient Visual Place Recognition with Clustering-based Weighted Transformer	Oct 6, 2023	ClusteringRobot Navigation	—Unverified	0
Collaborative Visual Place Recognition through Federated Learning	Apr 20, 2024	Contrastive LearningFederated Learning	—Unverified	0
Compact Environment-Invariant Codes for Robust Visual Place Recognition	Sep 23, 2017	Visual Place Recognition	—Unverified	0
Compressive Self-localization Using Relative Attribute Embedding	Aug 3, 2022	AttributeVisual Place Recognition	—Unverified	0
Condition-Invariant Multi-View Place Recognition	Feb 25, 2019	Visual Place Recognition	—Unverified	0
ConvSequential-SLAM: A Sequence-based, Training-less Visual Place Recognition Technique for Changing Environments	Sep 28, 2020	Visual Place Recognition	—Unverified	0
CoPR: Towards Accurate Visual Localization With Continuous Place-descriptor Regression	Apr 14, 2023	Image-Based LocalizationPose Estimation	—Unverified	0
CORAL: Colored structural representation for bi-modal place recognition	Nov 22, 2020	Visual Place Recognition	—Unverified	0
Cross-modal Place Recognition in Image Databases using Event-based Sensors	Jul 3, 2023	Cross-modal place recognitionRetrieval	—Unverified	0
Cross-view Self-localization from Synthesized Scene-graphs	Oct 24, 2023	Graph Neural NetworkNeRF	—Unverified	0
Data-Efficient Sequence-Based Visual Place Recognition with Highly Compressed JPEG Images	Feb 26, 2023	Image CompressionVisual Place Recognition	—Unverified	0

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All datasets Pittsburgh-30k-test Mapillary val St Lucia Tokyo247 Nordland Pittsburgh-250k-test Mapillary test 17 Places AmsterTime Baidu Mall Nardo-Air R VP Air

Benchmark Results

#	Model	Metric	Claimed	Verified	Status
1	Pair-VPR-p	Recall@1	95.4	—	Unverified
2	Pair-VPR-s	Recall@1	94.7	—	Unverified
3	FoL	Recall@1	94.5	—	Unverified
4	QAA-DINOv2-B-8192	Recall@1	94.4	—	Unverified
5	EffoVPR	Recall@1	93.9	—	Unverified
6	FoL-global	Recall@1	93.9	—	Unverified
7	BoQ	Recall@1	93.7	—	Unverified
8	SegVLAD-FineT (M)	Recall@1	93.1	—	Unverified
9	ProGEO	Recall@1	93	—	Unverified
10	SelaVPR	Recall@1	92.8	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	QAA-DINOv2-B-8192	Recall@1	97.6	—	Unverified
2	Pair-VPR-p	Recall@1	95.4	—	Unverified
3	BoQ	Recall@1	93.8	—	Unverified
4	Pair-VPR-s	Recall@1	93.7	—	Unverified
5	FoL	Recall@1	93.5	—	Unverified
6	FoL-global	Recall@1	93.1	—	Unverified
7	EffoVPR	Recall@1	92.8	—	Unverified
8	DINOv2 SALAD	Recall@1	92.2	—	Unverified
9	BoQ (ResNet-50)	Recall@1	91.2	—	Unverified
10	SelaVPR	Recall@1	90.8	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	EffoVPR	Recall@1	100	—	Unverified
2	BoQ	Recall@5	100	—	Unverified
3	BoQ (DINOv2)	Recall@1	100	—	Unverified
4	FoL	Recall@1	99.9	—	Unverified
5	FoL-global	Recall@1	99.9	—	Unverified
6	SelaVPR	Recall@1	99.8	—	Unverified
7	ProGEO	Recall@1	99.7	—	Unverified
8	MixVPR	Recall@1	99.66	—	Unverified
9	CosPlace	Recall@1	99.59	—	Unverified
10	AnyLoc-VLAD-DINOv2	Recall@1	96.17	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	Pair-VPR-p	Recall@1	100	—	Unverified
2	EffoVPR	Recall@1	98.7	—	Unverified
3	QAA-DINOv2-B-8192	Recall@1	98.4	—	Unverified
4	FoL	Recall@1	98.4	—	Unverified
5	BoQ	Recall@1	98.1	—	Unverified
6	Pair-VPR-s	Recall@1	98.1	—	Unverified
7	FoL-global	Recall@1	96.2	—	Unverified
8	CosPlace (ResNet-101 2048-D)	Recall@5	95.9	—	Unverified
9	SelaVPR	Recall@1	94	—	Unverified
10	EigenPlaces	Recall@1	93	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	QAA-DINOv2-B-8192	Recall@1	96.7	—	Unverified
2	EffoVPR	Recall@1	95	—	Unverified
3	FoL	Recall@1	92.6	—	Unverified
4	BoQ	Recall@1	90.6	—	Unverified
5	FoL-global	Recall@1	87.8	—	Unverified
6	SelaVPR	Recall@1	86.6	—	Unverified
7	DINOv2 SALAD (1-frame thr.)	Recall@1	85.2	—	Unverified
8	BoQ (ResNet-50)	Recall@1	83.1	—	Unverified
9	MixVPR	Recall@1	76	—	Unverified
10	Patch-NetVLAD	Recall@1	58.4	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	FoL	Recall@1	97	—	Unverified
2	BoQ	Recall@1	96.6	—	Unverified
3	QAA-DINOv2-B-8192	Recall@1	96.6	—	Unverified
4	FoL-global	Recall@1	96.5	—	Unverified
5	SelaVPR	Recall@1	95.7	—	Unverified
6	DINOv2 SALAD	Recall@1	95.1	—	Unverified
7	BoQ (ResNet-50)	Recall@1	95	—	Unverified
8	MixVPR	Recall@1	94.6	—	Unverified
9	EigenPlaces	Recall@1	94.1	—	Unverified
10	Conv-AP	Recall@1	92.4	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	QAA-DINOv2-B-8192	Recall@1	85.7	—	Unverified
2	Pair-VPR-p	Recall@1	81.7	—	Unverified
3	FoL	Recall@1	80	—	Unverified
4	EffoVPR	Recall@1	79	—	Unverified
5	Pair-VPR-s	Recall@1	79	—	Unverified
6	BoQ	Recall@1	79	—	Unverified
7	FoL-global	Recall@1	78.7	—	Unverified
8	DINOv2 SALAD	Recall@1	75	—	Unverified
9	SelaVPR	Recall@1	73.5	—	Unverified
10	MixVPR	Recall@1	64	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	SegVLAD-FineT (M)	Recall@1	95.3	—	Unverified
2	AnyLoc-VLAD-DINOv2	Recall@1	65.02	—	Unverified
3	MixVPR	Recall@1	63.79	—	Unverified
4	DINOv2	Recall@1	61.82	—	Unverified
5	DINO	Recall@1	61.82	—	Unverified
6	NetVLAD	Recall@1	61.58	—	Unverified
7	CosPlace	Recall@1	61.08	—	Unverified
8	CLIP	Recall@1	59.36	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	FoL	Recall@1	70.1	—	Unverified
2	EffoVPR	Recall@1	65.5	—	Unverified
3	FoL-global	Recall@1	64.6	—	Unverified
4	QAA-DINOv2-B-8192	Recall@1	63.7	—	Unverified
5	BoQ	Recall@1	63	—	Unverified
6	SegVLAD-FineT (M)	Recall@1	60.2	—	Unverified
7	BoQ (ResNet-50)	Recall@1	52.2	—	Unverified
8	EigenPlaces	Recall@1	48.9	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	SegVLAD-PreT (M)	Recall@1	80.4	—	Unverified
2	AnyLoc-VLAD-DINOv2	Recall@1	75.22	—	Unverified
3	MixVPR	Recall@1	64.44	—	Unverified
4	CLIP	Recall@1	56.02	—	Unverified
5	NetVLAD	Recall@1	53.1	—	Unverified
6	DINOv2	Recall@1	49.21	—	Unverified
7	DINO	Recall@1	48.3	—	Unverified
8	CosPlace	Recall@1	41.62	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	AnyLoc-VLAD-DINO	Recall@1	94.37	—	Unverified
2	CosPlace	Recall@1	91.55	—	Unverified
3	AnyLoc-VLAD-DINOv2	Recall@1	85.92	—	Unverified
4	DINO	Recall@1	84.51	—	Unverified
5	MixVPR	Recall@1	76.06	—	Unverified
6	DINOv2	Recall@1	71.83	—	Unverified
7	CLIP	Recall@1	61.97	—	Unverified
8	NetVLAD	Recall@1	60.56	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	SegVLAD-PreT (M)	Recall@1	67.2	—	Unverified
2	AnyLoc-VLAD-DINOv2	Recall@1	66.74	—	Unverified
3	DINOv2	Recall@1	45.23	—	Unverified
4	CLIP	Recall@1	36.59	—	Unverified
5	DINO	Recall@1	24.02	—	Unverified
6	MixVPR	Recall@1	10.31	—	Unverified
7	CosPlace	Recall@1	8.12	—	Unverified
8	NetVLAD	Recall@1	6.39	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	QAA-DINOv2-B-8192	Recall@1	92.9	—	Unverified
2	FoL	Recall@1	92.4	—	Unverified
3	BoQ	Recall@1	92.2	—	Unverified
4	FoL-global	Recall@1	91.7	—	Unverified
5	BoQ (ResNet-50)	Recall@1	91.3	—	Unverified
6	EffoVPR	Recall@1	91	—	Unverified
7	EigenPlaces	Recall@1	90.7	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	AnyLoc-VLAD-DINOv2	Recall@1	95.5	—	Unverified
2	MixVPR	Recall@1	91.5	—	Unverified
3	DINO	Recall@1	78.5	—	Unverified
4	CosPlace	Recall@1	74	—	Unverified
5	DINOv2	Recall@1	71.5	—	Unverified
6	NetVLAD	Recall@1	58.5	—	Unverified
7	CLIP	Recall@1	42.5	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	AnyLoc-VLAD-DINOv2	Recall@1	65.25	—	Unverified
2	DINO	Recall@1	46.61	—	Unverified
3	NetVLAD	Recall@1	34.75	—	Unverified
4	CLIP	Recall@1	33.05	—	Unverified
5	CosPlace	Recall@1	31.36	—	Unverified
6	DINOv2	Recall@1	27.97	—	Unverified
7	MixVPR	Recall@1	25.42	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	AnyLoc-VLAD-DINOv2	Recall@1	61.61	—	Unverified
2	DINO	Recall@1	41.07	—	Unverified
3	DINOv2	Recall@1	40.18	—	Unverified
4	NetVLAD	Recall@1	39.29	—	Unverified
5	CLIP	Recall@1	36.61	—	Unverified
6	MixVPR	Recall@1	29.46	—	Unverified
7	CosPlace	Recall@1	24.11	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	AnyLoc-VLAD-DINOv2	Recall@1	34.65	—	Unverified
2	DINO	Recall@1	27.72	—	Unverified
3	NetVLAD	Recall@1	25.74	—	Unverified
4	MixVPR	Recall@1	25.74	—	Unverified
5	CLIP	Recall@1	25.74	—	Unverified
6	DINOv2	Recall@1	24.75	—	Unverified
7	CosPlace	Recall@1	20.79	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	AnyLoc-VLAD-DINOv2	Recall@1	76.06	—	Unverified
2	DINOv2	Recall@1	73.24	—	Unverified
3	DINO	Recall@1	57.75	—	Unverified
4	CLIP	Recall@1	42.25	—	Unverified
5	MixVPR	Recall@1	32.39	—	Unverified
6	NetVLAD	Recall@1	19.72	—	Unverified
7	CosPlace	Recall@1	0	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	AnyLoc-VLAD-DINOv2	Recall@1	98.95	—	Unverified
2	CosPlace	Recall@1	91.1	—	Unverified
3	MixVPR	Recall@1	90.05	—	Unverified
4	NetVLAD	Recall@1	52.88	—	Unverified
5	DINOv2	Recall@1	39.79	—	Unverified
6	CLIP	Recall@1	34.55	—	Unverified
7	DINO	Recall@1	15.71	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	BoQ	Recall@1	92.5	—	Unverified
2	FoL-global	Recall@1	92.1	—	Unverified
3	DINOv2 SALAD	Recall@1	92.1	—	Unverified
4	FoL	Recall@1	91.8	—	Unverified
5	QAA-DINOv2-B-8192	Recall@1	91.8	—	Unverified