# TextInPlace: Indoor Visual Place Recognition in Repetitive Structures with Scene Text Spotting and Verification

arXiv: https://arxiv.org/abs/2503.06501 · HTML: https://mlsanity.com/paper/2503.06501/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 33 of its 43 references that are in the map.
- First posted on arXiv 9 Mar 2025.

## Builds on (most cited first, 30 of 33)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)
- [DINOv2: Learning Robust Visual Features without Supervision](https://mlsanity.com/paper/2304.07193/) (2023)
- [NetVLAD: CNN architecture for weakly supervised place recognition](https://mlsanity.com/paper/1511.07247/) (2015)
- [Fine-tuning CNN Image Retrieval with No Human Annotation](https://mlsanity.com/paper/1711.02512/) (2017)
- [Multi-Similarity Loss with General Pair Weighting for Deep Metric Learning](https://mlsanity.com/paper/1904.06627/) (2019)
- [Patch-NetVLAD: Multi-Scale Fusion of Locally-Global Descriptors for Place Recognition](https://mlsanity.com/paper/2103.01486/) (2021)
- [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)
- [Self-supervising Fine-grained Region Similarities for Large-scale Image Localization](https://mlsanity.com/paper/2006.03926/) (2020)
- [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)
- [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)
- [OpenVSLAM: A Versatile Visual SLAM Framework](https://mlsanity.com/paper/1910.01122/) (2019)
- [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)
- [DPText-DETR: Towards Better Scene Text Detection with Dynamic Points in Transformer](https://mlsanity.com/paper/2207.04491/) (2022)
- [Towards Seamless Adaptation of Pre-trained Models for Visual Place Recognition](https://mlsanity.com/paper/2402.14505/) (2024)
- [Reading and Writing: Discriminative and Generative Modeling for Self-Supervised Text Recognition](https://mlsanity.com/paper/2207.00193/) (2022)
- [Visual Place Recognition: A Tutorial](https://mlsanity.com/paper/2303.03281/) (2023)
- [Large-scale Localization Datasets in Crowded Indoor Spaces](https://mlsanity.com/paper/2105.08941/) (2021)
- [Design Space Exploration of Low-Bit Quantized Neural Networks for Visual Place Recognition](https://mlsanity.com/paper/2312.09028/) (2023)
- [Bridging the Gap Between End-to-End and Two-Step Text Spotting](https://mlsanity.com/paper/2404.04624/) (2024)
- [TextSLAM: Visual SLAM with Semantic Planar Text Features](https://mlsanity.com/paper/2305.10029/) (2023)
- [GV-Bench: Benchmarking Local Feature Matching for Geometric Verification of Long-term Loop Closure Detection](https://mlsanity.com/paper/2407.11736/) (2024)
- [Robust Loop Closure by Textual Cues in Challenging Environments](https://mlsanity.com/paper/2410.15869/) (2024)

## Built on by (most cited first, 2 of 2)

- [ROVER: Robust Loop Closure Verification with Trajectory Prior in Repetitive Environments](https://mlsanity.com/paper/2508.13488/) (2025)
- [DialogueVPR: Towards Conversational Visual Place Recognition](https://mlsanity.com/paper/2607.14115/) (2026)

## Abstract (arXiv)

Visual Place Recognition (VPR) is a crucial capability for long-term autonomous robots, enabling them to identify previously visited locations using visual information. However, existing methods remain limited in indoor settings due to the highly repetitive structures inherent in such environments. We observe that scene texts frequently appear in indoor spaces and can help distinguish visually similar but different places. This inspires us to propose TextInPlace, a simple yet effective VPR framework that integrates Scene Text Spotting (STS) to mitigate visual perceptual ambiguity in repetitive indoor environments. Specifically, TextInPlace adopts a dual-branch architecture within a local parameter sharing network. The VPR branch employs attention-based aggregation to extract global descriptors for coarse-grained retrieval, while the STS branch utilizes a bridging text spotter to detect and recognize scene texts. Finally, the discriminative texts are filtered to compute text similarity and re-rank the top-K retrieved images. To bridge the gap between current text-based repetitive indoor scene datasets and the typical scenarios encountered in robot navigation, we establish an indoor VPR benchmark dataset, called Maze-with-Text. Extensive experiments on both custom and public datasets demonstrate that TextInPlace achieves superior performance over existing methods that rely solely on appearance information. The dataset, code, and trained models are publicly available at https://github.com/HqiTao/TextInPlace.