# Single-View Place Recognition under Seasonal Changes

arXiv: https://arxiv.org/abs/1808.06516 · HTML: https://mlsanity.com/paper/1808.06516/

## Key facts

- Cited by 35 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 20 Aug 2018.

## Built on by (most cited first, 30 of 35)

- [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)
- [Towards Seamless Adaptation of Pre-trained Models for Visual Place Recognition](https://mlsanity.com/paper/2402.14505/) (2024)
- [AmsterTime: A Visual Place Recognition Benchmark Dataset for Severe Domain Shift](https://mlsanity.com/paper/2203.16291/) (2022)
- [Probabilistic Visual Place Recognition for Hierarchical Localization](https://mlsanity.com/paper/2105.03091/) (2021)
- [A Hierarchical Dual Model of Environment- and Place-Specific Utility for Visual Place Recognition](https://mlsanity.com/paper/2107.02440/) (2021)
- [VPAIR -- Aerial Visual Place Recognition and Localization in Large-scale Outdoor Environments](https://mlsanity.com/paper/2205.11567/) (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)
- [StructVPR: Distill Structural Knowledge with Weighting Samples for Visual Place Recognition](https://mlsanity.com/paper/2212.00937/) (2022)
- [AirLoop: Lifelong Loop Closure Detection](https://mlsanity.com/paper/2109.08975/) (2021)
- [Design Space Exploration of Low-Bit Quantized Neural Networks for Visual Place Recognition](https://mlsanity.com/paper/2312.09028/) (2023)
- [EDTformer: An Efficient Decoder Transformer for Visual Place Recognition](https://mlsanity.com/paper/2412.00784/) (2024)
- [AANet: Aggregation and Alignment Network with Semi-hard Positive Sample Mining for Hierarchical Place Recognition](https://mlsanity.com/paper/2310.05184/) (2023)
- [MSSPlace: Multi-Sensor Place Recognition with Visual and Text Semantics](https://mlsanity.com/paper/2407.15663/) (2024)
- [Tightly Coupled Learning Strategy for Weakly Supervised Hierarchical Place Recognition](https://mlsanity.com/paper/2202.06470/) (2022)
- [Condition-Invariant and Compact Visual Place Description by Convolutional Autoencoder](https://mlsanity.com/paper/2204.07350/) (2022)
- [Deep Homography Estimation for Visual Place Recognition](https://mlsanity.com/paper/2402.16086/) (2024)
- [Self-Supervised Learning for Place Representation Generalization across Appearance Changes](https://mlsanity.com/paper/2303.02370/) (2023)
- [Unsupervised Quality Prediction for Improved Single-Frame and Weighted Sequential Visual Place Recognition](https://mlsanity.com/paper/2307.01464/) (2023)
- [StructVPR++: Distill Structural and Semantic Knowledge with Weighting Samples for Visual Place Recognition](https://mlsanity.com/paper/2503.06601/) (2025)
- [VIPeR: Visual Incremental Place Recognition with Adaptive Mining and Continual Learning](https://mlsanity.com/paper/2407.21416/) (2024)
- [From Gaming to Research: GTA V for Synthetic Data Generation for Robotics and Navigations](https://mlsanity.com/paper/2502.12303/) (2025)
- [What you see is what you get: Experience ranking with deep neural dataset-to-dataset similarity for topological localisation](https://mlsanity.com/paper/2310.13622/) (2023)
- [Hierarchical place recognition with omnidirectional images and curriculum learning-based loss functions](https://mlsanity.com/paper/2404.14117/) (2024)
- [Addressing the challenges of loop detection in agricultural environments](https://mlsanity.com/paper/2408.15761/) (2024)
- [DSFormer: A Dual-Scale Cross-Learning Transformer for Visual Place Recognition](https://mlsanity.com/paper/2507.18444/) (2025)
- [DC-VLAQ: Query-Residual Aggregation for Robust Visual Place Recognition](https://mlsanity.com/paper/2601.12729/) (2026)
- [GRM: Gradient Rectification Module for Visual Place Retrieval](https://mlsanity.com/paper/2204.10972/) (2022)
- [SuperGF: Unifying Local and Global Features for Visual Localization](https://mlsanity.com/paper/2212.13105/) (2022)

## Abstract (arXiv)

Single-view place recognition, that we can define as finding an image that corresponds to the same place as a given query image, is a key capability for autonomous navigation and mapping. Although there has been a considerable amount of research in the topic, the high degree of image variability (with viewpoint, illumination or occlusions for example) makes it a research challenge. One of the particular challenges, that we address in this work, is weather variation. Seasonal changes can produce drastic appearance changes, that classic low-level features do not model properly. Our contributions in this paper are twofold. First we pre-process and propose a partition for the Nordland dataset, frequently used for place recognition research without consensus on the partitions. And second, we evaluate several neural network architectures such as pre-trained, siamese and triplet for this problem. Our best results outperform the state of the art of the field. A video showing our results can be found in https://youtu.be/VrlxsYZoHDM. The partitioned version of the Nordland dataset at http://webdiis.unizar.es/~jmfacil/pr-nordland/.