# Systematic Evaluation of Novel View Synthesis for Video Place Recognition

arXiv: https://arxiv.org/abs/2603.05876 · HTML: https://mlsanity.com/paper/2603.05876/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 15 of its 23 references that are in the map.
- First posted on arXiv 6 Mar 2026.

## Builds on (most cited first, 15 of 15)

- [High-Resolution Image Synthesis with Latent Diffusion Models](https://mlsanity.com/paper/2112.10752/) (2021)
- [3D Gaussian Splatting for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2308.04079/) (2023)
- [NetVLAD: CNN architecture for weakly supervised place recognition](https://mlsanity.com/paper/1511.07247/) (2015)
- [DeepStereo: Learning to Predict New Views from the World's Imagery](https://mlsanity.com/paper/1506.06825/) (2015)
- [Rethinking Visual Geo-localization for Large-Scale Applications](https://mlsanity.com/paper/2204.02287/) (2022)
- [MixVPR: Feature Mixing for Visual Place Recognition](https://mlsanity.com/paper/2303.02190/) (2023)
- [EigenPlaces: Training Viewpoint Robust Models for Visual Place Recognition](https://mlsanity.com/paper/2308.10832/) (2023)
- [Scaling Laws of Synthetic Images for Model Training ... for Now](https://mlsanity.com/paper/2312.04567/) (2023)
- [Vision Transformer for NeRF-Based View Synthesis from a Single Input Image](https://mlsanity.com/paper/2207.05736/) (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)
- [GenWarp: Single Image to Novel Views with Semantic-Preserving Generative Warping](https://mlsanity.com/paper/2405.17251/) (2024)
- [Visual Place Recognition: A Tutorial](https://mlsanity.com/paper/2303.03281/) (2023)
- [On Rendering Synthetic Images for Training an Object Detector](https://mlsanity.com/paper/1411.7911/) (2014)
- [Stronger Together: Air-Ground Robotic Collaboration Using Semantics](https://mlsanity.com/paper/2206.14289/) (2022)

## Abstract (arXiv)

The generation of synthetic novel views has the potential to positively impact robot navigation in several ways. In image-based navigation, a novel overhead view generated from a scene taken by a ground robot could be used to guide an aerial robot to that location. In Video Place Recognition (VPR), novel views of ground locations from the air can be added that enable a UAV to identify places seen by the ground robot, and similarly, overhead views can be used to generate novel ground views. This paper presents a systematic evaluation of synthetic novel views in VPR using five public VPR image databases and seven typical image similarity methods. We show that for small synthetic additions, novel views improve VPR recognition statistics. We find that for larger additions, the magnitude of viewpoint change is less important than the number of views added and the type of imagery in the dataset.