{"id":"https://openalex.org/W7223854050","doi":"https://doi.org/10.48550/arxiv.2610.35642","title":"VPR-Space: A Benchmark for Visual Place Recognition in Space Analog Domains","display_name":"VPR-Space: A Benchmark for Visual Place Recognition in Space Analog Domains","publication_year":2026,"publication_date":"2026-10-26","ids":{"openalex":"https://openalex.org/W7223854050","doi":"https://doi.org/10.48550/arxiv.2610.35642"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2610.35642","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2610.35642","pdf_url":"https://arxiv.org/pdf/2610.35642","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"volume":null,"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2610.35642","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5092550206","display_name":"Richard Fechner","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fechner, Richard","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5021238100","display_name":"Peer Neubert","orcid":"https://orcid.org/0000-0002-7312-9935","observed_orcids":["https://orcid.org/0000-0002-7312-9935"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Neubert, Peer","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.0003000000142492354,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.0,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/visual-place-recognition","display_name":"visual place recognition","score":0.9990000128746033},{"id":"https://openalex.org/keywords/loop-closure-detection","display_name":"loop closure detection","score":0.9340000152587891},{"id":"https://openalex.org/keywords/visual-slam","display_name":"visual SLAM","score":0.8330000042915344},{"id":"https://openalex.org/keywords/ground-truth-generation","display_name":"ground truth generation","score":0.8730000257492065},{"id":"https://openalex.org/keywords/relative-pose-estimation","display_name":"relative pose estimation","score":0.9929999709129333},{"id":"https://openalex.org/keywords/image-retrieval","display_name":"image retrieval","score":0.328000009059906}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.722599983215332},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7215999960899353},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6600000262260437},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6312999725341797},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5325999855995178},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.478300005197525},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4544000029563904},{"id":"https://openalex.org/C2779960059","wikidata":"https://www.wikidata.org/wiki/Q7113681","display_name":"Overhead (engineering)","level":2,"score":0.42329999804496765},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.3716999888420105},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.3637999892234802},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.33340001106262207},{"id":"https://openalex.org/C83260615","wikidata":"https://www.wikidata.org/wiki/Q6773121","display_name":"Mars Exploration Program","level":2,"score":0.32760000228881836},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2992999851703644},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.2903999984264374},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.2872999906539917},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.2721000015735626},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.2596000134944916},{"id":"https://openalex.org/C159620131","wikidata":"https://www.wikidata.org/wiki/Q1938983","display_name":"Spatial analysis","level":2,"score":0.25850000977516174},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.2529999911785126},{"id":"https://openalex.org/C68702407","wikidata":"https://www.wikidata.org/wiki/Q716774","display_name":"Exploration of Mars","level":3,"score":0.25119999051094055},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.25110000371932983}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2610.35642","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2610.35642","pdf_url":"https://arxiv.org/pdf/2610.35642","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2610.35642","doi":"https://doi.org/10.48550/arxiv.2610.35642","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2610.35642","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2610.35642","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2610.35642","pdf_url":"https://arxiv.org/pdf/2610.35642","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7223854050.pdf","grobid_xml":"https://content.openalex.org/works/W7223854050.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4311519329","https://openalex.org/W3025930203","https://openalex.org/W4367679985","https://openalex.org/W7162083420","https://openalex.org/W7016097275","https://openalex.org/W7168393486","https://openalex.org/W7136679770","https://openalex.org/W4385960130","https://openalex.org/W6982941217","https://openalex.org/W3002158350"],"abstract_inverted_index":{"Visual":[0],"Place":[1],"Recognition":[2],"(VPR)":[3],"is":[4,230],"an":[5,202],"important":[6],"means":[7],"for":[8,49,224,254,259],"loop":[9],"closure":[10],"detection":[11],"in":[12,26,128,173,238],"visual":[13],"Simultaneous":[14],"Localization":[15],"and":[16,22,28,34,107,137,145,155,182,256],"Mapping":[17],"(SLAM).":[18],"While":[19],"state-of-the-art":[20,205,246],"VPR":[21,61,74,129,186,193,216,247],"SLAM":[23,176,189,240],"approaches":[24],"excel":[25],"urban":[27],"feature-rich":[29],"natural":[30],"environments,":[31],"the":[32,42,92,113,125,141,163,168,174,180,199,268],"vast":[33],"feature-poor":[35],"environments":[36,87],"of":[37,91,101,116,132,184,201,204,267],"extraterrestrial":[38,64],"surfaces":[39],"like":[40],"on":[41,63,78,166,198,270],"Moon":[43,93],"or":[44,94],"Mars":[45],"pose":[46,236],"severe":[47],"challenges":[48,102],"existing":[50,79],"approaches.":[51,248],"This":[52],"paper":[53],"presents":[54],"a":[55,99,120,135,215,226,234,239,264],"novel":[56,121],"benchmark,":[57],"VPR-Space,":[58],"to":[59,123,161,218,232],"evaluate":[60],"capabilities":[62],"surfaces.":[65],"There":[66],"are":[67,151],"three":[68],"contributions:":[69],"(1)":[70],"We":[71,243,262],"collected":[72],"sixteen":[73],"database-query":[75],"datasets":[76],"based":[77,197],"data":[80],"from":[81],"Space":[82],"Analog":[83],"Domains":[84],"(SAD),":[85],"terrestrial":[86],"that":[88,134],"resemble":[89],"properties":[90],"Mars.":[95],"The":[96,249],"collection":[97],"includes":[98],"range":[100],"regarding":[103],"environment,":[104],"viewpoint":[105],"change,":[106],"illumination":[108],"conditions.":[109],"(2)":[110],"To":[111,178],"address":[112],"ill-posed":[114],"nature":[115],"VPR,":[117],"we":[118,159,191,213],"propose":[119,160],"approach":[122],"generate":[124],"ground-truth":[126,194],"information":[127],"benchmarks.":[130],"Instead":[131],"defining":[133],"query":[136],"datbase":[138],"image":[139,222],"show":[140,251],"same":[142],"place":[143],"if":[144,147],"only":[146],"their":[148],"camera":[149],"poses":[150],"within":[152,188],"fixed":[153],"position":[154],"viewing":[156],"direction":[157],"thresholds,":[158],"make":[162],"decision":[164],"dependent":[165],"whether":[167],"match":[169],"would":[170],"be":[171],"valuable":[172,235],"downstream":[175],"task.":[177],"avoid":[179],"overhead":[181],"restrictions":[183],"evaluating":[185],"in-the-loop":[187],"systems,":[190],"provide":[192,233,263],"(GT)":[195],"matrices":[196],"performance":[200],"ensemble":[203],"Relative":[206],"Pose":[207],"Estimators":[208],"(RPE).":[209],"Under":[210],"this":[211],"GT":[212],"require":[214],"method":[217],"identify":[219],"exactly":[220],"those":[221],"pairs":[223],"which":[225],"subsequently":[227],"applied":[228],"RPE":[229],"expected":[231],"estimate":[237],"context.":[241],"(3)":[242],"evaluated":[244],"nine":[245],"results":[250],"considerable":[252],"room":[253],"improvement":[255],"indicate":[257],"directions":[258],"future":[260],"research.":[261],"pre-release":[265],"version":[266],"dataset":[269],"github:":[271],"$\\texttt{https://github.com/rfechner/VPR-Space}$":[272]},"counts_by_year":[],"updated_date":"2026-10-30T12:39:25.321706","created_date":"2026-10-28T00:00:00"}