# Breaking the Frame: Visual Place Recognition by Overlap Prediction

arXiv: https://arxiv.org/abs/2406.16204 · HTML: https://mlsanity.com/paper/2406.16204/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Builds on 40 of its 69 references that are in the map.
- First posted on arXiv 23 Jun 2024.

## Builds on (most cited first, 30 of 40)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [DINOv2: Learning Robust Visual Features without Supervision](https://mlsanity.com/paper/2304.07193/) (2023)
- [Gaussian Error Linear Units (GELUs)](https://mlsanity.com/paper/1606.08415/) (2016)
- [SuperPoint: Self-Supervised Interest Point Detection and Description](https://mlsanity.com/paper/1712.07629/) (2017)
- [ORB-SLAM: a Versatile and Accurate Monocular SLAM System](https://mlsanity.com/paper/1502.00956/) (2015)
- [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)
- [ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras](https://mlsanity.com/paper/1610.06475/) (2016)
- [MegaDepth: Learning Single-View Depth Prediction from Internet Photos](https://mlsanity.com/paper/1804.00607/) (2018)
- [LightGlue: Local Feature Matching at Light Speed](https://mlsanity.com/paper/2306.13643/) (2023)
- [From Coarse to Fine: Robust Hierarchical Localization at Large Scale](https://mlsanity.com/paper/1812.03506/) (2018)
- [Fine-tuning CNN Image Retrieval with No Human Annotation](https://mlsanity.com/paper/1711.02512/) (2017)
- [CNN Features off-the-shelf: an Astounding Baseline for Recognition](https://mlsanity.com/paper/1403.6382/) (2014)
- [RoMa: Robust Dense Feature Matching](https://mlsanity.com/paper/2305.15404/) (2023)
- [Patch-NetVLAD: Multi-Scale Fusion of Locally-Global Descriptors for Place Recognition](https://mlsanity.com/paper/2103.01486/) (2021)
- [Learning with Average Precision: Training Image Retrieval with a Listwise Loss](https://mlsanity.com/paper/1906.07589/) (2019)
- [Learning to Find Good Correspondences](https://mlsanity.com/paper/1711.05971/) (2017)
- [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)
- [Neural-Guided RANSAC: Learning Where to Sample Model Hypotheses](https://mlsanity.com/paper/1905.04132/) (2019)
- [TransVPR: Transformer-based place recognition with multi-level attention aggregation](https://mlsanity.com/paper/2201.02001/) (2022)
- [R2Former: Unified Retrieval and Reranking Transformer for Place Recognition](https://mlsanity.com/paper/2304.03410/) (2023)
- [VPR-Bench: An Open-Source Visual Place Recognition Evaluation Framework with Quantifiable Viewpoint and Appearance Change](https://mlsanity.com/paper/2005.08135/) (2020)
- [GSV-Cities: Toward Appropriate Supervised Visual Place Recognition](https://mlsanity.com/paper/2210.10239/) (2022)
- [Training Vision Transformers for Image Retrieval](https://mlsanity.com/paper/2102.05644/) (2021)
- [Where is your place, Visual Place Recognition?](https://mlsanity.com/paper/2103.06443/) (2021)
- [SIFT Meets CNN: A Decade Survey of Instance Retrieval](https://mlsanity.com/paper/1608.01807/) (2016)
- [GlueStick: Robust Image Matching by Sticking Points and Lines Together](https://mlsanity.com/paper/2304.02008/) (2023)

## Built on by (most cited first, 3 of 3)

- [Scaling Image Geo-Localization to Continent Level](https://mlsanity.com/paper/2510.26795/) (2025)
- [Global-Aware Edge Prioritization for Pose Graph Initialization](https://mlsanity.com/paper/2602.21963/) (2026)
- [Evaluation of Visual Place Recognition Methods for Image Pair Retrieval in 3D Vision and Robotics](https://mlsanity.com/paper/2603.13917/) (2026)

## Abstract (arXiv)

Visual place recognition methods struggle with occlusions and partial visual overlaps. We propose a novel visual place recognition approach based on overlap prediction, called VOP, shifting from traditional reliance on global image similarities and local features to image overlap prediction. VOP proceeds co-visible image sections by obtaining patch-level embeddings using a Vision Transformer backbone and establishing patch-to-patch correspondences without requiring expensive feature detection and matching. Our approach uses a voting mechanism to assess overlap scores for potential database images. It provides a nuanced image retrieval metric in challenging scenarios. Experimental results show that VOP leads to more accurate relative pose estimation and localization results on the retrieved image pairs than state-of-the-art baselines on a number of large-scale, real-world indoor and outdoor benchmarks. The code is available at https://github.com/weitong8591/vop.git.