# Deep Learning Features at Scale for Visual Place Recognition

arXiv: https://arxiv.org/abs/1701.05105 · HTML: https://mlsanity.com/paper/1701.05105/

## Key facts

- Cited by 96 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 18 Jan 2017.

## Built on by (most cited first, 30 of 96)

- [Patch-NetVLAD: Multi-Scale Fusion of Locally-Global Descriptors for Place Recognition](https://mlsanity.com/paper/2103.01486/) (2021)
- [Rethinking Visual Geo-localization for Large-Scale Applications](https://mlsanity.com/paper/2204.02287/) (2022)
- [MixVPR: Feature Mixing for Visual Place Recognition](https://mlsanity.com/paper/2303.02190/) (2023)
- [Optimal Transport Aggregation for Visual Place Recognition](https://mlsanity.com/paper/2311.15937/) (2023)
- [EigenPlaces: Training Viewpoint Robust Models for Visual Place Recognition](https://mlsanity.com/paper/2308.10832/) (2023)
- [TransVPR: Transformer-based place recognition with multi-level attention aggregation](https://mlsanity.com/paper/2201.02001/) (2022)
- [GSV-Cities: Toward Appropriate Supervised Visual Place Recognition](https://mlsanity.com/paper/2210.10239/) (2022)
- [Beyond Cross-view Image Retrieval: Highly Accurate Vehicle Localization Using Satellite Image](https://mlsanity.com/paper/2204.04752/) (2022)
- [Deep Visual Geo-localization Benchmark](https://mlsanity.com/paper/2204.03444/) (2022)
- [Where is your place, Visual Place Recognition?](https://mlsanity.com/paper/2103.06443/) (2021)
- [CricaVPR: Cross-image Correlation-aware Representation Learning for Visual Place Recognition](https://mlsanity.com/paper/2402.19231/) (2024)
- [SeqNet: Learning Descriptors for Sequence-based Hierarchical Place Recognition](https://mlsanity.com/paper/2102.11603/) (2021)
- [Towards Seamless Adaptation of Pre-trained Models for Visual Place Recognition](https://mlsanity.com/paper/2402.14505/) (2024)
- [Accurate 3-DoF Camera Geo-Localization via Ground-to-Satellite Image Matching](https://mlsanity.com/paper/2203.14148/) (2022)
- [CorrI2P: Deep Image-to-Point Cloud Registration via Dense Correspondence](https://mlsanity.com/paper/2207.05483/) (2022)
- [AdaFusion: Visual-LiDAR Fusion with Adaptive Weights for Place Recognition](https://mlsanity.com/paper/2111.11739/) (2021)
- [Hyperdimensional computing as a framework for systematic aggregation of image descriptors](https://mlsanity.com/paper/2101.07720/) (2021)
- [Visual Place Recognition: A Tutorial](https://mlsanity.com/paper/2303.03281/) (2023)
- [LIP-Loc: LiDAR Image Pretraining for Cross-Modal Localization](https://mlsanity.com/paper/2312.16648/) (2023)
- [Improving Visual Place Recognition Performance by Maximising Complementarity](https://mlsanity.com/paper/2102.08416/) (2021)
- [STA-VPR: Spatio-temporal Alignment for Visual Place Recognition](https://mlsanity.com/paper/2103.13580/) (2021)
- [A Hierarchical Dual Model of Environment- and Place-Specific Utility for Visual Place Recognition](https://mlsanity.com/paper/2107.02440/) (2021)
- [Pair-VPR: Place-Aware Pre-training and Contrastive Pair Classification for Visual Place Recognition with Vision Transformers](https://mlsanity.com/paper/2410.06614/) (2024)
- [MultiRes-NetVLAD: Augmenting Place Recognition Training with Low-Resolution Imagery](https://mlsanity.com/paper/2202.09146/) (2022)
- [SelaVPR++: Towards Seamless Adaptation of Foundation Models for Efficient Place Recognition](https://mlsanity.com/paper/2502.16601/) (2025)
- [Place recognition survey: An update on deep learning approaches](https://mlsanity.com/paper/2106.10458/) (2021)
- [CrowdDriven: A New Challenging Dataset for Outdoor Visual Localization](https://mlsanity.com/paper/2109.04527/) (2021)
- [STUN: Self-Teaching Uncertainty Estimation for Place Recognition](https://mlsanity.com/paper/2203.01851/) (2022)
- [BoW3D: Bag of Words for Real-Time Loop Closing in 3D LiDAR SLAM](https://mlsanity.com/paper/2208.07473/) (2022)
- [StructVPR: Distill Structural Knowledge with Weighting Samples for Visual Place Recognition](https://mlsanity.com/paper/2212.00937/) (2022)

## Abstract (arXiv)

The success of deep learning techniques in the computer vision domain has triggered a range of initial investigations into their utility for visual place recognition, all using generic features from networks that were trained for other types of recognition tasks. In this paper, we train, at large scale, two CNN architectures for the specific place recognition task and employ a multi-scale feature encoding method to generate condition- and viewpoint-invariant features. To enable this training to occur, we have developed a massive Specific PlacEs Dataset (SPED) with hundreds of examples of place appearance change at thousands of different places, as opposed to the semantic place type datasets currently available. This new dataset enables us to set up a training regime that interprets place recognition as a classification problem. We comprehensively evaluate our trained networks on several challenging benchmark place recognition datasets and demonstrate that they achieve an average 10% increase in performance over other place recognition algorithms and pre-trained CNNs. By analyzing the network responses and their differences from pre-trained networks, we provide insights into what a network learns when training for place recognition, and what these results signify for future research in this area.