# DASGIL: Domain Adaptation for Semantic and Geometric-aware Image-based Localization

arXiv: https://arxiv.org/abs/2010.00573 · HTML: https://mlsanity.com/paper/2010.00573/

## Key facts

- Cited by 28 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 1 Oct 2020.

## Built on by (most cited first, 28 of 28)

- [Bridging the Domain Gap for Multi-Agent Perception](https://mlsanity.com/paper/2210.08451/) (2022)
- [SFD2: Semantic-guided Feature Detection and Description](https://mlsanity.com/paper/2304.14845/) (2023)
- [Efficient 3D Deep LiDAR Odometry](https://mlsanity.com/paper/2111.02135/) (2021)
- [Revisit Anything: Visual Place Recognition via Image Segment Retrieval](https://mlsanity.com/paper/2409.18049/) (2024)
- [Differential Private Federated Transfer Learning for Mental Health Monitoring in Everyday Settings: A Case Study on Stress Detection](https://mlsanity.com/paper/2402.10862/) (2024)
- [GSplatLoc: Grounding Keypoint Descriptors into 3D Gaussian Splatting for Improved Visual Localization](https://mlsanity.com/paper/2409.16502/) (2024)
- [Segment Anything Model is a Good Teacher for Local Feature Learning](https://mlsanity.com/paper/2309.16992/) (2023)
- [StructVPR: Distill Structural Knowledge with Weighting Samples for Visual Place Recognition](https://mlsanity.com/paper/2212.00937/) (2022)
- [Learning Semantics for Visual Place Recognition through Multi-Scale Attention](https://mlsanity.com/paper/2201.09701/) (2022)
- [AV-MaskEnhancer: Enhancing Video Representations through Audio-Visual Masked Autoencoder](https://mlsanity.com/paper/2309.08738/) (2023)
- [SAIC: Integration of Speech Anonymization and Identity Classification](https://mlsanity.com/paper/2312.15190/) (2023)
- [MSSPlace: Multi-Sensor Place Recognition with Visual and Text Semantics](https://mlsanity.com/paper/2407.15663/) (2024)
- [Self-Supervised Domain Calibration and Uncertainty Estimation for Place Recognition](https://mlsanity.com/paper/2203.04446/) (2022)
- [Efflex: Efficient and Flexible Pipeline for Spatio-Temporal Trajectory Graph Modeling and Representation Learning](https://mlsanity.com/paper/2404.12400/) (2024)
- [Hierarchical Road Topology Learning for Urban Map-less Driving](https://mlsanity.com/paper/2104.00084/) (2021)
- [Robustness Certification of Visual Perception Models via Camera Motion Smoothing](https://mlsanity.com/paper/2210.04625/) (2022)
- [BEV2PR: BEV-Enhanced Visual Place Recognition with Structural Cues](https://mlsanity.com/paper/2403.06600/) (2024)
- [VeTraSS: Vehicle Trajectory Similarity Search Through Graph Modeling and Representation Learning](https://mlsanity.com/paper/2404.08021/) (2024)
- [StructVPR++: Distill Structural and Semantic Knowledge with Weighting Samples for Visual Place Recognition](https://mlsanity.com/paper/2503.06601/) (2025)
- [Pixel-wise Smoothing for Certified Robustness against Camera Motion Perturbations](https://mlsanity.com/paper/2309.13150/) (2023)
- [ClusVPR: Efficient Visual Place Recognition with Clustering-based Weighted Transformer](https://mlsanity.com/paper/2310.04099/) (2023)
- [CrossGP: Cross-Day Glucose Prediction Excluding Physiological Information](https://mlsanity.com/paper/2404.10901/) (2024)
- [GluMarker: A Novel Predictive Modeling of Glycemic Control Through Digital Biomarkers](https://mlsanity.com/paper/2404.12605/) (2024)
- [LaVPR: Benchmarking Language and Vision for Place Recognition](https://mlsanity.com/paper/2602.03253/) (2026)
- [Weatherproofing Retrieval for Localization with Generative AI and Geometric Consistency](https://mlsanity.com/paper/2402.09237/) (2024)
- [Toward Short-Term Glucose Prediction Solely Based on CGM Time Series](https://mlsanity.com/paper/2404.11924/) (2024)
- [A Hyperdimensional One Place Signature to Represent Them All: Stackable Descriptors For Visual Place Recognition](https://mlsanity.com/paper/2412.06153/) (2024)
- [QdaVPR: A novel query-based domain-agnostic model for visual place recognition](https://mlsanity.com/paper/2603.07414/) (2026)

## Abstract (arXiv)

Long-Term visual localization under changing environments is a challenging problem in autonomous driving and mobile robotics due to season, illumination variance, etc. Image retrieval for localization is an efficient and effective solution to the problem. In this paper, we propose a novel multi-task architecture to fuse the geometric and semantic information into the multi-scale latent embedding representation for visual place recognition. To use the high-quality ground truths without any human effort, the effective multi-scale feature discriminator is proposed for adversarial training to achieve the domain adaptation from synthetic virtual KITTI dataset to real-world KITTI dataset. The proposed approach is validated on the Extended CMU-Seasons dataset and Oxford RobotCar dataset through a series of crucial comparison experiments, where our performance outperforms state-of-the-art baselines for retrieval-based localization and large-scale place recognition under the challenging environment.