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 251–297 of 297 papers

Title	Date	Tasks	Status
Visual Place Recognition with Low-Resolution Images	May 9, 2023	Visual Place Recognition	—Unverified
Visual Place Recognition with Probabilistic Vertex Voting	Oct 11, 2016	RetrievalVisual Place Recognition	—Unverified
Visual Place Recognition with Repetitive Structures	Jun 1, 2013	RetrievalVisual Place Recognition	—Unverified
What makes visual place recognition easy or hard?	Jun 23, 2021	Image RetrievalRetrieval	—Unverified
Where is your place, Visual Place Recognition?	Mar 11, 2021	Visual Place Recognition	—Unverified
Scalable Place Recognition Under Appearance Change for Autonomous Driving	Aug 1, 2019	Autonomous DrivingVisual Place Recognition	—Unverified
Scene Summarization: Clustering Scene Videos into Spatially Diverse Frames	Nov 28, 2023	ClusteringDiversity	—Unverified
Segway DRIVE Benchmark: Place Recognition and SLAM Data Collected by A Fleet of Delivery Robots	Jul 8, 2019	Autonomous NavigationSimultaneous Localization and Mapping	—Unverified
Self-Supervised Learning for Place Representation Generalization across Appearance Changes	Mar 4, 2023	Self-Supervised LearningVisual Place Recognition	—Unverified
Self-Supervised Visual Place Recognition Learning in Mobile Robots	May 11, 2019	Metric LearningRobot Navigation	—Unverified
Semantic Image Based Geolocation Given a Map	Sep 1, 2016	geo-localizationVisual Place Recognition	—Unverified
Semantic Reinforced Attention Learning for Visual Place Recognition	Aug 19, 2021	Visual Place Recognition	—Unverified
Real-Time Visual Place Recognition for Personal Localization on a Mobile Device	Nov 7, 2016	Visual Place Recognition	CodeCode Available
R^2Former: Unified Retrieval and Reranking Transformer for Place Recognition	Apr 6, 2023	Feature CorrelationReranking	CodeCode Available
Text2Pos: Text-to-Point-Cloud Cross-Modal Localization	Mar 28, 2022	Visual Place Recognition	CodeCode Available
Why-So-Deep: Towards Boosting Previously Trained Models for Visual Place Recognition	Jan 10, 2022	Image RetrievalLoop Closure Detection	CodeCode Available
Event-VPR: End-to-End Weakly Supervised Network Architecture for Event-based Visual Place Recognition	Nov 6, 2020	Visual Place Recognition	CodeCode Available
PCAN: 3D Attention Map Learning Using Contextual Information for Point Cloud Based Retrieval	Apr 22, 2019	3D Place RecognitionPoint Cloud Retrieval	CodeCode Available
A coarse-to-fine approach for dynamic-to-static image translation	Oct 25, 2021	Image InpaintingImage-to-Image Translation	CodeCode Available
LPD-Net: 3D Point Cloud Learning for Large-Scale Place Recognition and Environment Analysis	Dec 11, 2018	3D Place RecognitionPoint Cloud Retrieval	CodeCode Available
NeRF-Supervised Feature Point Detection and Description	Mar 13, 2024	Homography EstimationNeRF	CodeCode Available
Empty Cities: Image Inpainting for a Dynamic-Object-Invariant Space	Sep 20, 2018	Image InpaintingSemantic Segmentation	CodeCode Available
Visual Localization Under Appearance Change: Filtering Approaches	Nov 20, 2018	Visual LocalizationVisual Place Recognition	CodeCode Available
MambaPlace:Text-to-Point-Cloud Cross-Modal Place Recognition with Attention Mamba Mechanisms	Aug 28, 2024	Cross-modal place recognitionMamba	CodeCode Available
LoST? Appearance-Invariant Place Recognition for Opposite Viewpoints using Visual Semantics	Apr 16, 2018	NavigateScene Understanding	CodeCode Available
Efficient Decentralized Visual Place Recognition From Full-Image Descriptors	May 30, 2017	ClusteringImage Description	CodeCode Available
Learning Street View Representations with Spatiotemporal Contrast	Feb 7, 2025	Contrastive LearningRepresentation Learning	CodeCode Available
Visual Re-Ranking with Non-Visual Side Information	Apr 15, 2025	Graph Neural NetworkImage Retrieval	CodeCode Available
Large scale visual place recognition with sub-linear storage growth	Oct 23, 2018	Chunkingfeature selection	CodeCode Available
HypeVPR: Exploring Hyperbolic Space for Perspective to Equirectangular Visual Place Recognition	Jun 5, 2025	RetrievalVisual Place Recognition	CodeCode Available
City-Scale Visual Place Recognition with Deep Local Features Based on Multi-Scale Ordered VLAD Pooling	Sep 19, 2020	Content-Based Image RetrievalImage Retrieval	CodeCode Available
EchoVPR: Echo State Networks for Visual Place Recognition	Oct 11, 2021	Autonomous NavigationVisual Place Recognition	CodeCode Available
Distillation Improves Visual Place Recognition for Low Quality Images	Oct 10, 2023	Knowledge DistillationQuantization	CodeCode Available
HBST: A Hamming Distance embedding Binary Search Tree for Visual Place Recognition	Feb 26, 2018	Image RetrievalRetrieval	CodeCode Available
DEDUCE: Diverse scEne Detection methods in Unseen Challenging Environments	Aug 1, 2019	Scene RecognitionVisual Place Recognition	CodeCode Available
Geolocating Earth Imagery from ISS: Integrating Machine Learning with Astronaut Photography for Enhanced Geographic Mapping	Apr 29, 2025	Deep LearningEarth Observation	CodeCode Available
G2D: from GTA to Data	Jun 16, 2018	3D ReconstructionAutonomous Driving	CodeCode Available
Binary Neural Networks for Memory-Efficient and Effective Visual Place Recognition in Changing Environments	Oct 1, 2020	Visual Place Recognition	CodeCode Available
StructVPR++: Distill Structural and Semantic Knowledge with Weighting Samples for Visual Place Recognition	Mar 9, 2025	Autonomous DrivingImage Retrieval	CodeCode Available
BEV^2PR: BEV-Enhanced Visual Place Recognition with Structural Cues	Mar 11, 2024	Visual Place Recognition	CodeCode Available
From Coarse to Fine: Robust Hierarchical Localization at Large Scale	Dec 9, 2018	Autonomous DrivingRetrieval	CodeCode Available
AmsterTime: A Visual Place Recognition Benchmark Dataset for Severe Domain Shift	Mar 30, 2022	Image ClassificationImage Retrieval	CodeCode Available
ColonMapper: topological mapping and localization for colonoscopy	May 9, 2023	Visual Place Recognition	CodeCode Available
A Holistic Visual Place Recognition Approach using Lightweight CNNs for Significant ViewPoint and Appearance Changes	Nov 7, 2018	Visual Place Recognition	CodeCode Available
Adding Cues to Binary Feature Descriptors for Visual Place Recognition	Sep 18, 2018	Image RetrievalRetrieval	CodeCode Available
A Hybrid Compact Neural Architecture for Visual Place Recognition	Oct 15, 2019	Autonomous DrivingAutonomous Navigation	CodeCode Available
Text2Loc: 3D Point Cloud Localization from Natural Language	Nov 27, 2023	Contrastive LearningVisual Place Recognition	CodeCode Available

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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