mlsanityData to 14 Oct 2026

Applications of Spiking Neural Networks in Visual Place Recognition

arXiv 2311.13186 ↗First posted 22 Nov 2023cs.CV cs.ROcited by 9

Not on the map. Why?

Abstract (arXiv)

In robotics, Spiking Neural Networks (SNNs) are increasingly recognized for their largely-unrealized potential energy efficiency and low latency particularly when implemented on neuromorphic hardware. Our paper highlights three advancements for SNNs in Visual Place Recognition (VPR). Firstly, we propose Modular SNNs, where each SNN represents a set of non-overlapping geographically distinct places, enabling scalable networks for large environments. Secondly, we present Ensembles of Modular SNNs, where multiple networks represent the same place, significantly enhancing accuracy compared to single-network models. Each of our Modular SNN modules is compact, comprising only 1500 neurons and 474k synapses, making them ideally suited for ensembling due to their small size. Lastly, we investigate the role of sequence matching in SNN-based VPR, a technique where consecutive images are used to refine place recognition. We demonstrate competitive performance of our method on a range of datasets, including higher responsiveness to ensembling compared to conventional VPR techniques and higher R@1 improvements with sequence matching than VPR techniques with comparable baseline performance. Our contributions highlight the viability of SNNs for VPR, offering scalable and robust solutions, and paving the way for their application in various energy-sensitive robotic tasks.

Key facts. Cited by 9 papers in the map (data through 14 Oct 2026). Builds on 73 of its 163 references that are in the map. First posted on arXiv 22 Nov 2023.

Builds on

73 of 163 references.

References · 73

  1. 2015Deep Residual Learning for Image Recognitioncited by 52,096
  2. 2014Very Deep Convolutional Networks for Large-Scale Image Recognitioncited by 15,364
  3. 2014ImageNet Large Scale Visual Recognition Challengecited by 8,498
  4. 2016Simple and Scalable Predictive Uncertainty Estimation using Deep Ensemblescited by 3,926
  5. 2019Event-based Vision: A Surveycited by 1,016
  6. 2018CosFace: Large Margin Cosine Loss for Deep Face Recognitioncited by 971
  7. 2015NetVLAD: CNN architecture for weakly supervised place recognitioncited by 941
  8. 2018From Coarse to Fine: Robust Hierarchical Localization at Large Scalecited by 559
  9. 2017Fine-tuning CNN Image Retrieval with No Human Annotationcited by 499
  10. 2016Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Agecited by 411
  11. 2021Ensemble deep learning: A reviewcited by 284
  12. 2021Training Spiking Neural Networks Using Lessons From Deep Learningcited by 259
38 more
  1. 2016Large-Scale Image Retrieval with Attentive Deep Local Featurescited by 238
  2. 2021Patch-NetVLAD: Multi-Scale Fusion of Locally-Global Descriptors for Place Recognitioncited by 238
  3. 2019Learning with Average Precision: Training Image Retrieval with a Listwise Losscited by 185
  4. 2022Rethinking Visual Geo-localization for Large-Scale Applicationscited by 163
  5. 2023AnyLoc: Towards Universal Visual Place Recognitioncited by 163
  6. 2023MixVPR: Feature Mixing for Visual Place Recognitioncited by 161
  7. 2017Ultimate SLAM? Combining Events, Images, and IMU for Robust Visual SLAM in HDR and High Speed Scenarioscited by 150
  8. 2016Deep Image Retrieval: Learning global representations for image searchcited by 147
  9. 2022Toward Transparent AI: A Survey on Interpreting the Inner Structures of Deep Neural Networkscited by 129
  10. 2019Enabling Spike-based Backpropagation for Training Deep Neural Network Architecturescited by 123
  11. 2023Optimal ANN-SNN Conversion for High-accuracy and Ultra-low-latency Spiking Neural Networkscited by 122
  12. 2022TransVPR: Transformer-based place recognition with multi-level attention aggregationcited by 102
  13. 2020VPR-Bench: An Open-Source Visual Place Recognition Evaluation Framework with Quantifiable Viewpoint and Appearance Changecited by 101
  14. 2023Deep Model Fusion: A Surveycited by 91
  15. 2017A Survey of Neuromorphic Computing and Neural Networks in Hardwarecited by 85
  16. 2021Where is your place, Visual Place Recognition?cited by 82
  17. 2021Optimal ANN-SNN Conversion for Fast and Accurate Inference in Deep Spiking Neural Networkscited by 78
  18. 2021SeqNet: Learning Descriptors for Sequence-based Hierarchical Place Recognitioncited by 57
  19. 2020Deep Reinforcement Learning with Population-Coded Spiking Neural Network for Continuous Controlcited by 49
  20. 2016SegMatch: Segment based loop-closure for 3D point cloudscited by 48
  21. 2021A Survey on Ensemble Learning under the Era of Deep Learningcited by 47
  22. 2023Data-efficient Large Scale Place Recognition with Graded Similarity Supervisioncited by 43
  23. 2019Scalable Place Recognition Under Appearance Change for Autonomous Drivingcited by 42
  24. 2019Multi-Process Fusion: Visual Place Recognition Using Multiple Image Processing Methodscited by 38
  25. 2020Event-based visual place recognition with ensembles of temporal windowscited by 36
  26. 2021Event-driven Vision and Control for UAVs on a Neuromorphic Chipcited by 34
  27. 2021Hyperdimensional computing as a framework for systematic aggregation of image descriptorscited by 32
  28. 2022The Revisiting Problem in Simultaneous Localization and Mapping: A Survey on Visual Loop Closure Detectioncited by 29
  29. 2021CarSNN: An Efficient Spiking Neural Network for Event-Based Autonomous Cars on the Loihi Neuromorphic Research Processorcited by 27
  30. 2022Learning Sequential Descriptors for Sequence-based Visual Place Recognitioncited by 25
  31. 2020Hierarchical Multi-Process Fusion for Visual Place Recognitioncited by 24
  32. 2020EAO-SLAM: Monocular Semi-Dense Object SLAM Based on Ensemble Data Associationcited by 24
  33. 2021Backpropagation with Biologically Plausible Spatio-Temporal Adjustment For Training Deep Spiking Neural Networkscited by 23
  34. 2020Delta Descriptors: Change-Based Place Representation for Robust Visual Localizationcited by 21
  35. 2021Bottom-up and top-down approaches for the design of neuromorphic processing systems: Tradeoffs and synergies between natural and artificial intelligencecited by 21
  36. 2021Probabilistic Visual Place Recognition for Hierarchical Localizationcited by 20
  37. 2019Spiking Neural Network on Neuromorphic Hardware for Energy-Efficient Unidimensional SLAMcited by 19
  38. 2019A Review of Modularization Techniques in Artificial Neural Networkscited by 19

50 most cited of 73 All 73 (JSON)

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2024: 3; 2025: 2; 2026: 4.

9 papers.

  1. 2024General Place Recognition Survey: Towards Real-World Autonomycited by 23
  2. 2024On Motion Blur and Deblurring in Visual Place Recognitioncited by 3
  3. 2026Event-Driven Neuromorphic Vision Enables Energy-Efficient Visual Place Recognitioncited by 3
  4. 2026Quantile Transfer for Reliable Operating Point Selection in Visual Place Recognitioncited by 2
  5. 2024A Hyperdimensional One Place Signature to Represent Them All: Stackable Descriptors For Visual Place Recognitioncited by 1
  6. 2025On the Privacy Risks of Spiking Neural Networks: A Membership Inference Analysiscited by 1
  7. 2025Event-driven Robust Fitting on Neuromorphic Hardwarecited by 0
  8. 2026LEAR: Learning Edge-Aware Representations for Event-to-LiDAR Localizationcited by 0
  9. 2026Visual Place Recognition Using Rate-Encoded Spiking Neural Networks with Discrete STDP Learningcited by 0