Visual Place Recognition on Mapillary test

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Recall@1

Rank	Model	Recall@1	Recall@5	Recall@10	Extra Training Data	Paper	Code	Year
1	QAA-DINOv2-B-8192	85.7	–	–	✓	Query-Based Adaptive Aggregation for Multi-Dataset Joint Training Toward Universal Visual Place Recognition		2025
2	Pair-VPR-p	81.7	90.2	91.3		Pair-VPR: Place-Aware Pre-training and Contrastive Pair Classification for Visual Place Recognition with Vision Transformers	csiro-robotics/Pair-VPR	2024
3	FoL	80.0	90.9	93.0		Focus on Local: Finding Reliable Discriminative Regions for Visual Place Recognition	chenshunpeng/FoL	2025
4	BoQ	79	90.3	92		BoQ: A Place is Worth a Bag of Learnable Queries	amaralibey/bag-of-queries	2024
4	EffoVPR	79.0	89.0	91.6		EffoVPR: Effective Foundation Model Utilization for Visual Place Recognition		2024
4	Pair-VPR-s	79.0	86.9	88.3		Pair-VPR: Place-Aware Pre-training and Contrastive Pair Classification for Visual Place Recognition with Vision Transformers	csiro-robotics/Pair-VPR	2024
7	FoL-global	78.7	90.8	93.0		Focus on Local: Finding Reliable Discriminative Regions for Visual Place Recognition	chenshunpeng/FoL	2025
8	DINOv2 SALAD	75	88.8	91.3		Optimal Transport Aggregation for Visual Place Recognition	serizba/salad	2023
9	SelaVPR	73.5	87.5	90.6		Towards Seamless Adaptation of Pre-trained Models for Visual Place Recognition	Lu-Feng/SelaVPR	2024
10	MixVPR	64.0	75.9	80.6		MixVPR: Feature Mixing for Visual Place Recognition	amaralibey/mixvpr	2023
11	ResNeXt-GCL-PCA	62.3	76.2	81.1		Generalized Contrastive Optimization of Siamese Networks for Place Recognition	marialeyvallina/generalized_contrastive_loss	2021
12	RexNeXt-GCL	56.0	70.8	75.1		Generalized Contrastive Optimization of Siamese Networks for Place Recognition	marialeyvallina/generalized_contrastive_loss	2021