Papers Visual Place Recognition
“Visual Place Recognition” 태그가 달린 논문 363편 · 필터 해제
AdaptVPR: Route-Aware Hard Positive Generation for Robust Visual Place Recognition
Visual Place Recognition (VPR) localizes a query image by retrieving database images of the same or nearby place, yet its robustness is often degraded by domain shifts arising from illumination, weather, seasonal changes…
Visual Place RecognitionTopometric Autonomous Vehicle Localization by Combining Visual Embeddings and Feed-Forward 3D Models
Effective Visual Localization (VL) requires a map of the environment that combines compactness for efficient scalability with robustness against visual appearance changes and metric precision. Through low-dimensional ima…
Visual Place RecognitionVisual LocalizationPose EstimationAre All Tokens Necessary for Visual Place Recognition? An Empirical Study of Token Reduction for Efficient Inference
Recent visual place recognition (VPR) methods based on vision transformers, particularly foundation models, have achieved remarkable recognition performance. However, these models process all visual tokens throughout the…
Visual Place RecognitionSelectivity Drives Efficiency: Dataset Pruning for Visual Place Recognition
Recent visual place recognition (VPR) studies have increasingly relied on large-scale datasets to train more robust and discriminative models. Although this trend significantly improves recognition performance, it also i…
Visual Place RecognitionImmediate 3D Gaussian Splat Reconstruction of Unordered Input with Global Consistency
3D Gaussian Splatting (3DGS) has become the method of choice for reconstructing and real-time rendering of captured scenes. To capture a scene with good visual quality, continuous image sequences are usually combined wit…
Visual Place RecognitionBreaking Déjà Vu: Independent Auditing of Visual Place Recognition through Vision-Language Reasoning
Visual place recognition (VPR) is a key enabler of accurate localization and long-term autonomous navigation in robotics applications, such as loop closure detection for simultaneous localisation and mapping (SLAM). Howe…
Visual Place RecognitionImage MatchingSLAM: Structured and Localized Analytic Manifold Adaptation for Lifelong VPR
Visual Place Recognition (VPR) in lifelong deployment requires continuous adaptation to new environments without catastrophic forgetting. In this paper, we propose SLAM, a Structured and Localized Analytic Manifold adapt…
Visual Place RecognitionTrajectory-Anchor Optimization for Overconfident Thermal Visual Place Recognition: Zero-Leakage OOD Auditing and Kidnapped-Robot Recovery
Modern thermal visual place recognition (TIR-VPR) frontends based on foundation models achieve remarkable closed-set retrieval but suffer from an overconfident forced-matching failure mode. Under out-of-distribution (OOD…
Visual Place RecognitionLost in the Tail: Addressing Geographic Imbalance in Urban Visual Place Recognition
Urban-scale Visual Place Recognition (VPR) aims to identify the geographic location of a query image by matching it against a geo-tagged database. While recent methods achieve impressive performance, they overlook a seri…
Visual Place RecognitionFrom Open Waters to Enclosed Cabins: ProteusVPR for Cross-Scene Visual Place Recognition in Maritime Perception and Cabin Inspection
Autonomous robotic inspection in maritime environments presents unique challenges for Visual Place Recognition (VPR) due to cross-scene perceptual shifts. Robots navigating ship-borne environments must transition between…
Visual Place RecognitionVisual LocalizationImage RetrievalVL2Spike: Spike-driven Distillation from VLMs for Low-Power Visual Perception in Embodied AI
Spiking neural networks (SNNs) are brain-inspired, event-driven models that compute with sparse spikes, which enables highly efficient visual perception in resource-constrained embodied AI models. The emergence of Spikin…
Visual Place RecognitionKnowledge DistillationVisual Place Recognition in Forests with Depth-Aware Distillation
Visual place recognition in natural forest environments remains challenging due to repetitive vegetation, weak structural cues, and significant appearance variation across traversals. To address this limitation, this pap…
Visual Place RecognitionFlatVPR: Plug-and-play Geo-linear Residual Adapter for Geometric Rectification of Foundation Model Feature Manifolds
This paper proposes ``FlatVPR,'' a novel geometric rectification paradigm that effectively bridges the trade-off between map lightweightness and localization accuracy in visual place recognition (VPR) by enforcing a feat…
Visual Place RecognitionOne Channel to Rule Them All: Rethinking Input Representation for Visual Place Recognition
Visual Place Recognition (VPR) is fundamental to long-term robot localization and SLAM, yet current systems overwhelmingly rely on RGB input, implicitly assuming color is necessary for global place recognition. We challe…
Visual Place RecognitionDisPlace: Discriminative Place Projections for Multi-Reference Visual Place Recognition
A key challenge in Visual Place Recognition (VPR) is matching query images against reference maps captured under diverse environmental conditions and viewpoints. While multiple reference traversals improve robustness, ex…
Visual Place RecognitionSAFEVPR: Patch-Based Conformal Verification for Safe Cross-Condition Sequence Visual Place Recognition
Sequence-based visual place recognition (VPR) for SLAM and robot relocalization must decide whether the retrieved top-1 candidate is safe to accept. Conformal prediction is a natural framework for this accept/reject deci…
Visual Place RecognitionKappaPlace: Learning Hyperspherical Uncertainty for Visual Place Recognition via Prototype-Anchored Supervision
Visual Place Recognition (VPR) is critical for autonomous navigation, yet state-of-the-art methods lack well-calibrated uncertainty estimation. Standard pipelines cannot reliably signal when a query is ambiguous or a mat…
Visual Place RecognitionFaster or Stronger: Towards Flexible Visual Place Recognition via Weighted Aggregation and Token Pruning
Visual Place Recognition (VPR) aims to match a query image to reference images of the same place in a large-scale database. Recent state-of-the-art methods employ Vision Transformers (ViTs) as backbone foundation models …
Visual Place RecognitionRegion Matters: Efficient and Reliable Region-Aware Visual Place Recognition
Visual Place Recognition (VPR) determines a query image's geographic location by matching it against geotagged databases. However, existing methods struggle with perceptual aliasing caused by irrelevant regions and ineff…
Visual Place RecognitionTowards Lifelong Aerial Autonomy: Geometric Memory Management for Continual Visual Place Recognition in Dynamic Environments
Robust geo-localization in changing environmental conditions is critical for long-term aerial autonomy. While visual place recognition (VPR) models perform well when airborne views match the training domain, adapting the…
Visual Place RecognitionIncremental LearningContinual Learning