# CLOVER: Context-aware Long-term Object Viewpoint- and Environment- Invariant Representation Learning

arXiv: https://arxiv.org/abs/2407.09718 · HTML: https://mlsanity.com/paper/2407.09718/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 41 of its 62 references that are in the map.
- First posted on arXiv 12 Jul 2024.

## Builds on (most cited first, 30 of 41)

- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [A Simple Framework for Contrastive Learning of Visual Representations](https://mlsanity.com/paper/2002.05709/) (2020)
- [ImageNet Large Scale Visual Recognition Challenge](https://mlsanity.com/paper/1409.0575/) (2014)
- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [DINOv2: Learning Robust Visual Features without Supervision](https://mlsanity.com/paper/2304.07193/) (2023)
- [Emerging Properties in Self-Supervised Vision Transformers](https://mlsanity.com/paper/2104.14294/) (2021)
- [SGDR: Stochastic Gradient Descent with Warm Restarts](https://mlsanity.com/paper/1608.03983/) (2016)
- [Bootstrap your own latent: A new approach to self-supervised Learning](https://mlsanity.com/paper/2006.07733/) (2020)
- [ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenes](https://mlsanity.com/paper/1702.04405/) (2017)
- [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)
- [FaceNet: A Unified Embedding for Face Recognition and Clustering](https://mlsanity.com/paper/1503.03832/) (2015)
- [Supervised Contrastive Learning](https://mlsanity.com/paper/2004.11362/) (2020)
- [Big Self-Supervised Models are Strong Semi-Supervised Learners](https://mlsanity.com/paper/2006.10029/) (2020)
- [VICReg: Variance-Invariance-Covariance Regularization for Self-Supervised Learning](https://mlsanity.com/paper/2105.04906/) (2021)
- [Hypersim: A Photorealistic Synthetic Dataset for Holistic Indoor Scene Understanding](https://mlsanity.com/paper/2011.02523/) (2020)
- [Deep Learning for Person Re-identification: A Survey and Outlook](https://mlsanity.com/paper/2001.04193/) (2020)
- [Understanding Dimensional Collapse in Contrastive Self-supervised Learning](https://mlsanity.com/paper/2110.09348/) (2021)
- [ABO: Dataset and Benchmarks for Real-World 3D Object Understanding](https://mlsanity.com/paper/2110.06199/) (2021)
- [Deep ViT Features as Dense Visual Descriptors](https://mlsanity.com/paper/2112.05814/) (2021)
- [ConceptFusion: Open-set Multimodal 3D Mapping](https://mlsanity.com/paper/2302.07241/) (2023)
- [What Should Not Be Contrastive in Contrastive Learning](https://mlsanity.com/paper/2008.05659/) (2020)
- [Learning Fine-grained Image Similarity with Deep Ranking](https://mlsanity.com/paper/1404.4661/) (2014)
- [FAST-LIO2: Fast Direct LiDAR-inertial Odometry](https://mlsanity.com/paper/2107.06829/) (2021)
- [Person Re-identification: Past, Present and Future](https://mlsanity.com/paper/1610.02984/) (2016)
- [AnyLoc: Towards Universal Visual Place Recognition](https://mlsanity.com/paper/2308.00688/) (2023)
- [CubeSLAM: Monocular 3D Object SLAM](https://mlsanity.com/paper/1806.00557/) (2018)
- [QuadricSLAM: Dual Quadrics from Object Detections as Landmarks in Object-oriented SLAM](https://mlsanity.com/paper/1804.04011/) (2018)
- [Towards Seamless Adaptation of Pre-trained Models for Visual Place Recognition](https://mlsanity.com/paper/2402.14505/) (2024)

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

- [PreSIST: Vision-Language-Informed Object Persistence Prediction in Open-World Scenes](https://mlsanity.com/paper/2607.04057/) (2026)

## Abstract (arXiv)

Mobile service robots can benefit from object-level understanding of their environments, including the ability to distinguish object instances and re-identify previously seen instances. Object re-identification is challenging across different viewpoints and in scenes with significant appearance variation arising from weather or lighting changes. Existing works on object re-identification either focus on specific classes or require foreground segmentation. Further, these methods, along with object re-identification datasets, have limited consideration of challenges such as outdoor scenes and illumination changes. To address this problem, we introduce CODa Re-ID: an in-the-wild object re-identification dataset containing 1,037,814 observations of 557 objects across 8 classes under diverse lighting conditions and viewpoints. Further, we propose CLOVER, a representation learning method for object observations that can distinguish between static object instances without requiring foreground segmentation. We also introduce MapCLOVER, a method for scalably summarizing CLOVER descriptors for use in object maps and matching new observations to summarized descriptors. Our results show that CLOVER achieves superior performance in static object re-identification under varying lighting conditions and viewpoint changes and can generalize to unseen instances and classes.