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A Holistic Visual Place Recognition Approach using Lightweight CNNs for Significant ViewPoint and Appearance Changes

arXiv 1811.03032 ↗First posted 7 Nov 2018cs.RO cs.CVcited by 53

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Abstract (arXiv)

This paper presents a lightweight visual place recognition approach, capable of achieving high performance with low computational cost, and feasible for mobile robotics under significant viewpoint and appearance changes. Results on several benchmark datasets confirm an average boost of 13% in accuracy, and 12x average speedup relative to state-of-the-art methods.

Key facts. Cited by 53 papers in the map (data through 7 Oct 2026). First posted on arXiv 7 Nov 2018.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 12; 2022: 14; 2023: 10; 2024: 12; 2025: 4; 2026: 1.

53 papers.

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  1. 2021Patch-NetVLAD: Multi-Scale Fusion of Locally-Global Descriptors for Place Recognitioncited by 236
  2. 2022Rethinking Visual Geo-localization for Large-Scale Applicationscited by 160
  3. 2023MixVPR: Feature Mixing for Visual Place Recognitioncited by 160
  4. 2023Optimal Transport Aggregation for Visual Place Recognitioncited by 151
  5. 2023EigenPlaces: Training Viewpoint Robust Models for Visual Place Recognitioncited by 109
  6. 2022TransVPR: Transformer-based place recognition with multi-level attention aggregationcited by 102
  7. 2022Deep Visual Geo-localization Benchmarkcited by 83
  8. 2024Towards Seamless Adaptation of Pre-trained Models for Visual Place Recognitioncited by 49
  9. 2024SceneGraphLoc: Cross-Modal Coarse Visual Localization on 3D Scene Graphscited by 29
  10. 2021Improving Visual Place Recognition Performance by Maximising Complementaritycited by 15
  11. 2021STA-VPR: Spatio-temporal Alignment for Visual Place Recognitioncited by 15
  12. 2021A Hierarchical Dual Model of Environment- and Place-Specific Utility for Visual Place Recognitioncited by 15
38 more
  1. 2022MultiRes-NetVLAD: Augmenting Place Recognition Training with Low-Resolution Imagerycited by 14
  2. 2025SelaVPR++: Towards Seamless Adaptation of Foundation Models for Efficient Place Recognitioncited by 14
  3. 2021Place recognition survey: An update on deep learning approachescited by 13
  4. 2022StructVPR: Distill Structural Knowledge with Weighting Samples for Visual Place Recognitioncited by 13
  5. 2021An Efficient and Scalable Collection of Fly-inspired Voting Units for Visual Place Recognition in Changing Environmentscited by 12
  6. 2022BioSLAM: A Bio-inspired Lifelong Memory System for General Place Recognitioncited by 12
  7. 2021AirLoop: Lifelong Loop Closure Detectioncited by 11
  8. 2022General Place Recognition Survey: Towards the Real-world Autonomy Agecited by 11
  9. 2022FE-Fusion-VPR: Attention-based Multi-Scale Network Architecture for Visual Place Recognition by Fusing Frames and Eventscited by 11
  10. 2024Swarm Intelligence in Geo-Localization: A Multi-Agent Large Vision-Language Model Collaborative Frameworkcited by 11
  11. 2023AANet: Aggregation and Alignment Network with Semi-hard Positive Sample Mining for Hierarchical Place Recognitioncited by 9
  12. 2022SwitchHit: A Probabilistic, Complementarity-Based Switching System for Improved Visual Place Recognition in Changing Environmentscited by 8
  13. 2022Highly-Efficient Binary Neural Networks for Visual Place Recognitioncited by 7
  14. 2024NYC-Event-VPR: A Large-Scale High-Resolution Event-Based Visual Place Recognition Dataset in Dense Urban Environmentscited by 7
  15. 2021Unsupervised Complementary-aware Multi-process Fusion for Visual Place Recognitioncited by 6
  16. 2024Deep Homography Estimation for Visual Place Recognitioncited by 5
  17. 2023Leveraging BEV Representation for 360-degree Visual Place Recognitioncited by 4
  18. 2024PlaceFormer: Transformer-based Visual Place Recognition using Multi-Scale Patch Selection and Fusioncited by 4
  19. 2021Sequence-Based Filtering for Visual Route-Based Navigation: Analysing the Benefits, Trade-offs and Design Choicescited by 3
  20. 2022Boosting Performance of a Baseline Visual Place Recognition Technique by Predicting the Maximally Complementary Techniquecited by 3
  21. 2024Breaking the Frame: Visual Place Recognition by Overlap Predictioncited by 3
  22. 2024Structured Pruning for Efficient Visual Place Recognitioncited by 3
  23. 2025StructVPR++: Distill Structural and Semantic Knowledge with Weighting Samples for Visual Place Recognitioncited by 3
  24. 2023Divide&Classify: Fine-Grained Classification for City-Wide Visual Place Recognitioncited by 2
  25. 2023ClusVPR: Efficient Visual Place Recognition with Clustering-based Weighted Transformercited by 2
  26. 2025Polar Perspectives: Evaluating 2-D LiDAR Projections for Robust Place Recognition with Visual Foundation Modelscited by 2
  27. 2021Ghost-dil-NetVLAD: A Lightweight Neural Network for Visual Place Recognitioncited by 1
  28. 2022A Novel Image Descriptor with Aggregated Semantic Skeleton Representation for Long-term Visual Place Recognitioncited by 1
  29. 2022Data Efficient Visual Place Recognition Using Extremely JPEG-Compressed Imagescited by 1
  30. 2023Data-Efficient Sequence-Based Visual Place Recognition with Highly Compressed JPEG Imagescited by 1
  31. 2024TSCM: A Teacher-Student Model for Vision Place Recognition Using Cross-Metric Knowledge Distillationcited by 1
  32. 2021Scene Retrieval for Contextual Visual Mappingcited by 0
  33. 2021Developing efficient transfer learning strategies for robust scene recognition in mobile robotics using pre-trained convolutional neural networkscited by 0
  34. 2022Merging Classification Predictions with Sequential Information for Lightweight Visual Place Recognition in Changing Environmentscited by 0
  35. 2023A Complementarity-Based Switch-Fuse System for Improved Visual Place Recognitioncited by 0
  36. 2023An Evaluation and Ranking of Different Voting Schemes for Improved Visual Place Recognitioncited by 0
  37. 2024Local positional graphs and attentive local features for a data and runtime-efficient hierarchical place recognition pipelinecited by 0
  38. 2024Employing Universal Voting Schemes for Improved Visual Place Recognition Performancecited by 0

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