# AmsterTime: A Visual Place Recognition Benchmark Dataset for Severe Domain Shift

arXiv: https://arxiv.org/abs/2203.16291 · HTML: https://mlsanity.com/paper/2203.16291/

## Key facts

- Cited by 32 papers in the map (data through 14 Oct 2026).
- Builds on 18 of its 35 references that are in the map.
- First posted on arXiv 30 Mar 2022.

## Builds on (most cited first, 18 of 18)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Very Deep Convolutional Networks for Large-Scale Image Recognition](https://mlsanity.com/paper/1409.1556/) (2014)
- [Momentum Contrast for Unsupervised Visual Representation Learning](https://mlsanity.com/paper/1911.05722/) (2019)
- [Grad-CAM: Visual Explanations from Deep Networks via Gradient-based Localization](https://mlsanity.com/paper/1610.02391/) (2016)
- [Bootstrap your own latent: A new approach to self-supervised Learning](https://mlsanity.com/paper/2006.07733/) (2020)
- [Exploring Simple Siamese Representation Learning](https://mlsanity.com/paper/2011.10566/) (2020)
- [Unsupervised Learning of Visual Features by Contrasting Cluster Assignments](https://mlsanity.com/paper/2006.09882/) (2020)
- [Barlow Twins: Self-Supervised Learning via Redundancy Reduction](https://mlsanity.com/paper/2103.03230/) (2021)
- [Big Self-Supervised Models are Strong Semi-Supervised Learners](https://mlsanity.com/paper/2006.10029/) (2020)
- [NetVLAD: CNN architecture for weakly supervised place recognition](https://mlsanity.com/paper/1511.07247/) (2015)
- [Deep metric learning using Triplet network](https://mlsanity.com/paper/1412.6622/) (2014)
- [Google Landmarks Dataset v2 -- A Large-Scale Benchmark for Instance-Level Recognition and Retrieval](https://mlsanity.com/paper/2004.01804/) (2020)
- [LIFT: Learned Invariant Feature Transform](https://mlsanity.com/paper/1603.09114/) (2016)
- [Learning with Average Precision: Training Image Retrieval with a Listwise Loss](https://mlsanity.com/paper/1906.07589/) (2019)
- [Deep Image Retrieval: Learning global representations for image search](https://mlsanity.com/paper/1604.01325/) (2016)
- [On the Performance of ConvNet Features for Place Recognition](https://mlsanity.com/paper/1501.04158/) (2015)
- [Single-View Place Recognition under Seasonal Changes](https://mlsanity.com/paper/1808.06516/) (2018)
- [Attention-Aware Age-Agnostic Visual Place Recognition](https://mlsanity.com/paper/1909.05163/) (2019)

## Built on by (most cited first, 30 of 32)

- [DINOv2: Learning Robust Visual Features without Supervision](https://mlsanity.com/paper/2304.07193/) (2023)
- [EigenPlaces: Training Viewpoint Robust Models for Visual Place Recognition](https://mlsanity.com/paper/2308.10832/) (2023)
- [BoQ: A Place is Worth a Bag of Learnable Queries](https://mlsanity.com/paper/2405.07364/) (2024)
- [CricaVPR: Cross-image Correlation-aware Representation Learning for Visual Place Recognition](https://mlsanity.com/paper/2402.19231/) (2024)
- [Visual Place Recognition: A Tutorial](https://mlsanity.com/paper/2303.03281/) (2023)
- [Are Local Features All You Need for Cross-Domain Visual Place Recognition?](https://mlsanity.com/paper/2304.05887/) (2023)
- [Revisit Anything: Visual Place Recognition via Image Segment Retrieval](https://mlsanity.com/paper/2409.18049/) (2024)
- [Focus on Local: Finding Reliable Discriminative Regions for Visual Place Recognition](https://mlsanity.com/paper/2504.09881/) (2025)
- [EffoVPR: Effective Foundation Model Utilization for Visual Place Recognition](https://mlsanity.com/paper/2405.18065/) (2024)
- [EDTformer: An Efficient Decoder Transformer for Visual Place Recognition](https://mlsanity.com/paper/2412.00784/) (2024)
- [SuperPlace: The Renaissance of Classical Feature Aggregation for Visual Place Recognition in the Era of Foundation Models](https://mlsanity.com/paper/2506.13073/) (2025)
- [VLAD-BuFF: Burst-aware Fast Feature Aggregation for Visual Place Recognition](https://mlsanity.com/paper/2409.19293/) (2024)
- [To Match or Not to Match: Revisiting Image Matching for Reliable Visual Place Recognition](https://mlsanity.com/paper/2504.06116/) (2025)
- [MMS-VPR: A Fine-Grained Multimodal Street-Level Visual Place Recognition Dataset and Evaluation Benchmark for Dense Pedestrian Environments](https://mlsanity.com/paper/2505.12254/) (2025)
- [Through the Lens of Doubt: Robust and Efficient Uncertainty Estimation for Visual Place Recognition](https://mlsanity.com/paper/2510.13464/) (2025)
- [Faster or Stronger: Towards Flexible Visual Place Recognition via Weighted Aggregation and Token Pruning](https://mlsanity.com/paper/2605.20551/) (2026)
- [SAGE: Spatial-visual Adaptive Graph Exploration for Efficient Visual Place Recognition](https://mlsanity.com/paper/2509.25723/) (2025)
- [Towards Test-time Efficient Visual Place Recognition via Asymmetric Query Processing](https://mlsanity.com/paper/2512.13055/) (2025)
- [LaVPR: Benchmarking Language and Vision for Place Recognition](https://mlsanity.com/paper/2602.03253/) (2026)
- [SpatialBoost: Enhancing Visual Representation through Language-Guided Reasoning](https://mlsanity.com/paper/2603.22057/) (2026)
- [Query-Based Adaptive Aggregation for Multi-Dataset Joint Training Toward Universal Visual Place Recognition](https://mlsanity.com/paper/2507.03831/) (2025)
- [DC-VLAQ: Query-Residual Aggregation for Robust Visual Place Recognition](https://mlsanity.com/paper/2601.12729/) (2026)
- [QdaVPR: A novel query-based domain-agnostic model for visual place recognition](https://mlsanity.com/paper/2603.07414/) (2026)
- [SciceVPR: Stable Cross-Image Correlation Enhanced Model for Visual Place Recognition](https://mlsanity.com/paper/2502.20676/) (2025)
- [CQVPR: Landmark-aware Contextual Queries for Visual Place Recognition](https://mlsanity.com/paper/2503.08170/) (2025)
- [The Overlooked Value of Test-time Reference Sets in Visual Place Recognition](https://mlsanity.com/paper/2510.03751/) (2025)
- [CaMiT: A Time-Aware Car Model Dataset for Classification and Generation](https://mlsanity.com/paper/2510.17626/) (2025)
- [D2-VPR: A Parameter-efficient Visual-foundation-model-based Visual Place Recognition Method via Knowledge Distillation and Deformable Aggregation](https://mlsanity.com/paper/2511.12528/) (2025)
- [KappaPlace: Learning Hyperspherical Uncertainty for Visual Place Recognition via Prototype-Anchored Supervision](https://mlsanity.com/paper/2605.19435/) (2026)
- [Are Visual Place Recognition Models Recognizing Places or Conditions? Distractor-Augmented Evaluation and Condition Suppression](https://mlsanity.com/paper/2608.06847/) (2026)

## Abstract (arXiv)

We introduce AmsterTime: a challenging dataset to benchmark visual place recognition (VPR) in presence of a severe domain shift. AmsterTime offers a collection of 2,500 well-curated images matching the same scene from a street view matched to historical archival image data from Amsterdam city. The image pairs capture the same place with different cameras, viewpoints, and appearances. Unlike existing benchmark datasets, AmsterTime is directly crowdsourced in a GIS navigation platform (Mapillary). We evaluate various baselines, including non-learning, supervised and self-supervised methods, pre-trained on different relevant datasets, for both verification and retrieval tasks. Our result credits the best accuracy to the ResNet-101 model pre-trained on the Landmarks dataset for both verification and retrieval tasks by 84% and 24%, respectively. Additionally, a subset of Amsterdam landmarks is collected for feature evaluation in a classification task. Classification labels are further used to extract the visual explanations using Grad-CAM for inspection of the learned similar visuals in a deep metric learning models.