# Structured Pruning for Efficient Visual Place Recognition

arXiv: https://arxiv.org/abs/2409.07834 · HTML: https://mlsanity.com/paper/2409.07834/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Builds on 28 of its 41 references that are in the map.
- First posted on arXiv 12 Sep 2024.

## Builds on (most cited first, 28 of 28)

- [DINOv2: Learning Robust Visual Features without Supervision](https://mlsanity.com/paper/2304.07193/) (2023)
- [Learning both Weights and Connections for Efficient Neural Networks](https://mlsanity.com/paper/1506.02626/) (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)
- [Channel Pruning for Accelerating Very Deep Neural Networks](https://mlsanity.com/paper/1707.06168/) (2017)
- [What is the State of Neural Network Pruning?](https://mlsanity.com/paper/2003.03033/) (2020)
- [Fine-tuning CNN Image Retrieval with No Human Annotation](https://mlsanity.com/paper/1711.02512/) (2017)
- [EIE: Efficient Inference Engine on Compressed Deep Neural Network](https://mlsanity.com/paper/1602.01528/) (2016)
- [Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping](https://mlsanity.com/paper/1910.02490/) (2019)
- [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)
- [Structured Pruning for Deep Convolutional Neural Networks: A survey](https://mlsanity.com/paper/2303.00566/) (2023)
- [EigenPlaces: Training Viewpoint Robust Models for Visual Place Recognition](https://mlsanity.com/paper/2308.10832/) (2023)
- [TransVPR: Transformer-based place recognition with multi-level attention aggregation](https://mlsanity.com/paper/2201.02001/) (2022)
- [Deep Learning Features at Scale for Visual Place Recognition](https://mlsanity.com/paper/1701.05105/) (2017)
- [GSV-Cities: Toward Appropriate Supervised Visual Place Recognition](https://mlsanity.com/paper/2210.10239/) (2022)
- [Deep Visual Geo-localization Benchmark](https://mlsanity.com/paper/2204.03444/) (2022)
- [BoQ: A Place is Worth a Bag of Learnable Queries](https://mlsanity.com/paper/2405.07364/) (2024)
- [CricaVPR: Cross-image Correlation-aware Representation Learning for Visual Place Recognition](https://mlsanity.com/paper/2402.19231/) (2024)
- [A Holistic Visual Place Recognition Approach using Lightweight CNNs for Significant ViewPoint and Appearance Changes](https://mlsanity.com/paper/1811.03032/) (2018)
- [Towards Seamless Adaptation of Pre-trained Models for Visual Place Recognition](https://mlsanity.com/paper/2402.14505/) (2024)
- [Binary Neural Networks for Memory-Efficient and Effective Visual Place Recognition in Changing Environments](https://mlsanity.com/paper/2010.00716/) (2020)
- [StructVPR: Distill Structural Knowledge with Weighting Samples for Visual Place Recognition](https://mlsanity.com/paper/2212.00937/) (2022)
- [Design Space Exploration of Low-Bit Quantized Neural Networks for Visual Place Recognition](https://mlsanity.com/paper/2312.09028/) (2023)
- [Highly-Efficient Binary Neural Networks for Visual Place Recognition](https://mlsanity.com/paper/2202.12375/) (2022)
- [On Procrustes Analysis in Hyperbolic Space](https://mlsanity.com/paper/2102.03723/) (2021)

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

- [TeTRA-VPR: A Ternary Transformer Approach for Compact Visual Place Recognition](https://mlsanity.com/paper/2503.02511/) (2025)
- [Learning 1-Bit LiDAR-based Localization with Auxiliary Objective](https://mlsanity.com/paper/2606.27729/) (2026)
- [Are All Tokens Necessary for Visual Place Recognition? An Empirical Study of Token Reduction for Efficient Inference](https://mlsanity.com/paper/2607.15563/) (2026)

## Abstract (arXiv)

Visual Place Recognition (VPR) is fundamental for the global re-localization of robots and devices, enabling them to recognize previously visited locations based on visual inputs. This capability is crucial for maintaining accurate mapping and localization over large areas. Given that VPR methods need to operate in real-time on embedded systems, it is critical to optimize these systems for minimal resource consumption. While the most efficient VPR approaches employ standard convolutional backbones with fixed descriptor dimensions, these often lead to redundancy in the embedding space as well as in the network architecture. Our work introduces a novel structured pruning method, to not only streamline common VPR architectures but also to strategically remove redundancies within the feature embedding space. This dual focus significantly enhances the efficiency of the system, reducing both map and model memory requirements and decreasing feature extraction and retrieval latencies. Our approach has reduced memory usage and latency by 21% and 16%, respectively, across models, while minimally impacting recall@1 accuracy by less than 1%. This significant improvement enhances real-time applications on edge devices with negligible accuracy loss.