# Hierarchical place recognition with omnidirectional images and curriculum learning-based loss functions

arXiv: https://arxiv.org/abs/2404.14117 · HTML: https://mlsanity.com/paper/2404.14117/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 21 of its 51 references that are in the map.
- First posted on arXiv 22 Apr 2024.

## Builds on (most cited first, 21 of 21)

- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [Very Deep Convolutional Networks for Large-Scale Image Recognition](https://mlsanity.com/paper/1409.1556/) (2014)
- [DINOv2: Learning Robust Visual Features without Supervision](https://mlsanity.com/paper/2304.07193/) (2023)
- [Going Deeper with Convolutions](https://mlsanity.com/paper/1409.4842/) (2014)
- [FaceNet: A Unified Embedding for Face Recognition and Clustering](https://mlsanity.com/paper/1503.03832/) (2015)
- [Swin Transformer V2: Scaling Up Capacity and Resolution](https://mlsanity.com/paper/2111.09883/) (2021)
- [NetVLAD: CNN architecture for weakly supervised place recognition](https://mlsanity.com/paper/1511.07247/) (2015)
- [In Defense of the Triplet Loss for Person Re-Identification](https://mlsanity.com/paper/1703.07737/) (2017)
- [Circle Loss: A Unified Perspective of Pair Similarity Optimization](https://mlsanity.com/paper/2002.10857/) (2020)
- [PointNetVLAD: Deep Point Cloud Based Retrieval for Large-Scale Place Recognition](https://mlsanity.com/paper/1804.03492/) (2018)
- [Rethinking Visual Geo-localization for Large-Scale Applications](https://mlsanity.com/paper/2204.02287/) (2022)
- [AnyLoc: Towards Universal Visual Place Recognition](https://mlsanity.com/paper/2308.00688/) (2023)
- [MixVPR: Feature Mixing for Visual Place Recognition](https://mlsanity.com/paper/2303.02190/) (2023)
- [Optimal Transport Aggregation for Visual Place Recognition](https://mlsanity.com/paper/2311.15937/) (2023)
- [EigenPlaces: Training Viewpoint Robust Models for Visual Place Recognition](https://mlsanity.com/paper/2308.10832/) (2023)
- [Deep Metric Learning with Angular Loss](https://mlsanity.com/paper/1708.01682/) (2017)
- [PyTorch Metric Learning](https://mlsanity.com/paper/2008.09164/) (2020)
- [Single-View Place Recognition under Seasonal Changes](https://mlsanity.com/paper/1808.06516/) (2018)
- [Visual Place Recognition: A Tutorial](https://mlsanity.com/paper/2303.03281/) (2023)
- [360Loc: A Dataset and Benchmark for Omnidirectional Visual Localization with Cross-device Queries](https://mlsanity.com/paper/2311.17389/) (2023)
- [Generalized Contrastive Optimization of Siamese Networks for Place Recognition](https://mlsanity.com/paper/2103.06638/) (2021)

## Built on by (most cited first, 1 of 1)

- [An evaluation of CNN models and data augmentation techniques in hierarchical localization of mobile robots](https://mlsanity.com/paper/2407.10596/) (2024)

## Abstract (arXiv)

This paper addresses Visual Place Recognition (VPR), which is essential for the safe navigation of mobile robots. The solution we propose employs panoramic images and deep learning models, which are fine-tuned with triplet loss functions that integrate curriculum learning strategies. By progressively presenting more challenging examples during training, these loss functions enable the model to learn more discriminative and robust feature representations, overcoming the limitations of conventional contrastive loss functions. After training, VPR is tackled in two steps: coarse (room retrieval) and fine (position estimation). The results demonstrate that the curriculum-based triplet losses consistently outperform standard contrastive loss functions, particularly under challenging perceptual conditions. To thoroughly assess the robustness and generalization capabilities of the proposed method, it is evaluated in a variety of indoor and outdoor environments. The approach is tested against common challenges in real operation conditions, including severe illumination changes, the presence of dynamic visual effects such as noise and occlusions, and scenarios with limited training data. The results show that the proposed framework performs competitively in all these situations, achieving high recognition accuracy and demonstrating its potential as a reliable solution for real-world robotic applications. The code used in the experiments is available at https://github.com/MarcosAlfaro/TripletNetworksIndoorLocalization.git.