# Selectivity Drives Efficiency: Dataset Pruning for Visual Place Recognition

arXiv: https://arxiv.org/abs/2607.14897 · HTML: https://mlsanity.com/paper/2607.14897/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 41 of its 58 references that are in the map.
- First posted on arXiv 16 Jul 2026.

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

- [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)
- [NetVLAD: CNN architecture for weakly supervised place recognition](https://mlsanity.com/paper/1511.07247/) (2015)
- [An Empirical Study of Example Forgetting during Deep Neural Network Learning](https://mlsanity.com/paper/1812.05159/) (2018)
- [Deep Learning on a Data Diet: Finding Important Examples Early in Training](https://mlsanity.com/paper/2107.07075/) (2021)
- [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)
- [Selection via Proxy: Efficient Data Selection for Deep Learning](https://mlsanity.com/paper/1906.11829/) (2019)
- [GRAD-MATCH: Gradient Matching based Data Subset Selection for Efficient Deep Model Training](https://mlsanity.com/paper/2103.00123/) (2021)
- [Identifying Mislabeled Data using the Area Under the Margin Ranking](https://mlsanity.com/paper/2001.10528/) (2020)
- [Patch-NetVLAD: Multi-Scale Fusion of Locally-Global Descriptors for Place Recognition](https://mlsanity.com/paper/2103.01486/) (2021)
- [Coresets via Bilevel Optimization for Continual Learning and Streaming](https://mlsanity.com/paper/2006.03875/) (2020)
- [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)
- [Active Learning by Acquiring Contrastive Examples](https://mlsanity.com/paper/2109.03764/) (2021)
- [Optimal Transport Aggregation for Visual Place Recognition](https://mlsanity.com/paper/2311.15937/) (2023)
- [Contextual Diversity for Active Learning](https://mlsanity.com/paper/2008.05723/) (2020)
- [Coverage-centric Coreset Selection for High Pruning Rates](https://mlsanity.com/paper/2210.15809/) (2022)
- [A Comprehensive Survey of Dataset Distillation](https://mlsanity.com/paper/2301.05603/) (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)
- [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)
- [InfoBatch: Lossless Training Speed Up by Unbiased Dynamic Data Pruning](https://mlsanity.com/paper/2303.04947/) (2023)
- [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)
- [Large-scale Dataset Pruning with Dynamic Uncertainty](https://mlsanity.com/paper/2306.05175/) (2023)
- [CricaVPR: Cross-image Correlation-aware Representation Learning for Visual Place Recognition](https://mlsanity.com/paper/2402.19231/) (2024)
- [MegaLoc: One Retrieval to Place Them All](https://mlsanity.com/paper/2502.17237/) (2025)
- [Towards Seamless Adaptation of Pre-trained Models for Visual Place Recognition](https://mlsanity.com/paper/2402.14505/) (2024)

## Abstract (arXiv)

Recent visual place recognition (VPR) studies have increasingly relied on large-scale datasets to train more robust and discriminative models. Although this trend significantly improves recognition performance, it also introduces substantial storage and training costs, especially when new architectures or training strategies need to be repeatedly developed and evaluated. Dataset pruning (DP) provides a promising way to improve data efficiency by retaining only informative training data. However, conventional DP methods mainly follow the sample-wise classification paradigm, which overlooks the relation-dependent training nature of VPR, where supervision is typically formed by image pairs rather than independent images. To address this issue, we propose a place-wise dataset pruning framework tailored for VPR. Instead of pruning individual images, our method treats each place as the basic pruning unit and introduces two complementary novel metrics, i.e., intra-place diversity (IPD) and inter-place similarity (IPS), to evaluate the training value of each place. By jointly considering these two metrics, our method ranks all places and constructs a compact yet informative coreset, thereby allowing the pruned dataset to still support the training of robust and discriminative VPR models. Extensive experiments demonstrate that our method consistently outperforms state-of-the-art DP baselines under different pruning ratios while reducing selection and training costs. Moreover, by pruning a merged dataset roughly 3.5× the size of GSV-Cities to a comparable scale, our coreset maintains highly competitive performance, achieving 94.5% R@1 on MSLS-val and 97.0% R@1 on Nordland with only NetVLAD. Codes will be made publicly available.