# Dominating Set Database Selection for Visual Place Recognition

arXiv: https://arxiv.org/abs/2303.05123 · HTML: https://mlsanity.com/paper/2303.05123/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 14 of its 40 references that are in the map.
- First posted on arXiv 9 Mar 2023.

## Builds on (most cited first, 14 of 14)

- [ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenes](https://mlsanity.com/paper/1702.04405/) (2017)
- [SuperGlue: Learning Feature Matching with Graph Neural Networks](https://mlsanity.com/paper/1911.11763/) (2019)
- [SuperPoint: Self-Supervised Interest Point Detection and Description](https://mlsanity.com/paper/1712.07629/) (2017)
- [NetVLAD: CNN architecture for weakly supervised place recognition](https://mlsanity.com/paper/1511.07247/) (2015)
- [ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM](https://mlsanity.com/paper/2007.11898/) (2020)
- [NICE-SLAM: Neural Implicit Scalable Encoding for SLAM](https://mlsanity.com/paper/2112.12130/) (2021)
- [From Coarse to Fine: Robust Hierarchical Localization at Large Scale](https://mlsanity.com/paper/1812.03506/) (2018)
- [iMAP: Implicit Mapping and Positioning in Real-Time](https://mlsanity.com/paper/2103.12352/) (2021)
- [LIFT: Learned Invariant Feature Transform](https://mlsanity.com/paper/1603.09114/) (2016)
- [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)
- [Key.Net: Keypoint Detection by Handcrafted and Learned CNN Filters](https://mlsanity.com/paper/1904.00889/) (2019)
- [BundleFusion: Real-time Globally Consistent 3D Reconstruction using On-the-fly Surface Re-integration](https://mlsanity.com/paper/1604.01093/) (2016)
- [RGB-D SLAM with Structural Regularities](https://mlsanity.com/paper/2010.07997/) (2020)

## Built on by (most cited first, 2 of 2)

- [CSCPR: Cross-Source-Context Indoor RGB-D Place Recognition](https://mlsanity.com/paper/2407.17457/) (2024)
- [Distillation Improves Visual Place Recognition for Low Quality Images](https://mlsanity.com/paper/2310.06906/) (2023)

## Abstract (arXiv)

This paper presents an approach for creating a visual place recognition (VPR) database for localization in indoor environments from RGBD scanning sequences. The proposed approach is formulated as a minimization problem in terms of dominating set algorithm for graph, constructed from spatial information, and referred as DominatingSet. Our algorithm shows better scene coverage in comparison to other methodologies that are used for database creation. Also, we demonstrate that using DominatingSet, a database size could be up to 250-1400 times smaller than the original scanning sequence while maintaining a recall rate of more than 80% on testing sequences. We evaluated our algorithm on 7-scenes and BundleFusion datasets and an additionally recorded sequence in a highly repetitive office setting. In addition, the database selection can produce weakly-supervised labels for fine-tuning neural place recognition algorithms to particular settings, improving even more their accuracy. The paper also presents a fully automated pipeline for VPR database creation from RGBD scanning sequences, as well as a set of metrics for VPR database evaluation. The code and released data are available on our web-page~ -- https://prime-slam.github.io/place-recognition-db/