{"id":"https://openalex.org/W4389819300","doi":"https://doi.org/10.1109/lra.2023.3343602","title":"<i>AnyLoc</i>: Towards Universal Visual Place Recognition","display_name":"<i>AnyLoc</i>: Towards Universal Visual Place Recognition","publication_year":2023,"publication_date":"2023-12-15","ids":{"openalex":"https://openalex.org/W4389819300","doi":"https://doi.org/10.1109/lra.2023.3343602"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3343602","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3343602","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5050116265","display_name":"Nikhil Keetha","orcid":"https://orcid.org/0000-0003-2770-0835"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nikhil Keetha","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0003-2770-0835","affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101885622","display_name":"Avneesh Mishra","orcid":"https://orcid.org/0000-0002-8982-7949"},"institutions":[{"id":"https://openalex.org/I64189192","display_name":"International Institute of Information Technology, Hyderabad","ror":"https://ror.org/05f11g639","country_code":"IN","type":"education","lineage":["https://openalex.org/I64189192"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Avneesh Mishra","raw_affiliation_strings":["International Institute of Information Technology, Hyderabad, India"],"raw_orcid":"https://orcid.org/0000-0002-8982-7949","affiliations":[{"raw_affiliation_string":"International Institute of Information Technology, Hyderabad, India","institution_ids":["https://openalex.org/I64189192"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005926516","display_name":"Jay Karhade","orcid":"https://orcid.org/0000-0003-1464-9399"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jay Karhade","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0003-1464-9399","affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047370393","display_name":"Krishna Murthy Jatavallabhula","orcid":"https://orcid.org/0000-0003-4927-3387"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Krishna Murthy Jatavallabhula","raw_affiliation_strings":["Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0003-4927-3387","affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032584934","display_name":"Sebastian Scherer","orcid":"https://orcid.org/0000-0002-8373-4688"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sebastian Scherer","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-8373-4688","affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075816776","display_name":"K. Madhava Krishna","orcid":"https://orcid.org/0000-0001-7846-7901"},"institutions":[{"id":"https://openalex.org/I64189192","display_name":"International Institute of Information Technology, Hyderabad","ror":"https://ror.org/05f11g639","country_code":"IN","type":"education","lineage":["https://openalex.org/I64189192"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Madhava Krishna","raw_affiliation_strings":["International Institute of Information Technology, Hyderabad, India"],"raw_orcid":"https://orcid.org/0000-0001-7846-7901","affiliations":[{"raw_affiliation_string":"International Institute of Information Technology, Hyderabad, India","institution_ids":["https://openalex.org/I64189192"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089947531","display_name":"Sourav Garg","orcid":"https://orcid.org/0000-0001-6068-3307"},"institutions":[{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]},{"id":"https://openalex.org/I5681781","display_name":"The University of Adelaide","ror":"https://ror.org/00892tw58","country_code":"AU","type":"education","lineage":["https://openalex.org/I5681781"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Sourav Garg","raw_affiliation_strings":["Australian Institute for Machine Learning, University of Adelaide, Adelaide, SA, Australia"],"raw_orcid":"https://orcid.org/0000-0001-6068-3307","affiliations":[{"raw_affiliation_string":"Australian Institute for Machine Learning, University of Adelaide, Adelaide, SA, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I5681781"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":16.6102,"has_fulltext":false,"cited_by_count":169,"citation_normalized_percentile":{"value":0.99674763,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"9","issue":"2","first_page":"1286","last_page":"1293"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9997000098228455,"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/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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9980999827384949,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.3932632803916931}],"concepts":[{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.3932632803916931}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3343602","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3343602","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.46000000834465027,"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities"}],"awards":[{"id":"https://openalex.org/G1196731252","display_name":null,"funder_award_id":"2138307","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"},{"id":"https://openalex.org/G1259252908","display_name":null,"funder_award_id":"2138286","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"},{"id":"https://openalex.org/G1346396159","display_name":null,"funder_award_id":"2137603","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"},{"id":"https://openalex.org/G8722909214","display_name":null,"funder_award_id":"213296","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"},{"id":"https://openalex.org/G8923334955","display_name":null,"funder_award_id":"2138259","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"}],"funders":[{"id":"https://openalex.org/F4320335353","display_name":"National Science Foundation of Sri Lanka","ror":"https://ror.org/010xaa060"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":65,"referenced_works":["https://openalex.org/W301022506","https://openalex.org/W1833123814","https://openalex.org/W2012592962","https://openalex.org/W2013270301","https://openalex.org/W2108598243","https://openalex.org/W2284029970","https://openalex.org/W2558027072","https://openalex.org/W2564922936","https://openalex.org/W2740418457","https://openalex.org/W2745839262","https://openalex.org/W2916040547","https://openalex.org/W2930967833","https://openalex.org/W2951019013","https://openalex.org/W2962720468","https://openalex.org/W2963256208","https://openalex.org/W2963588253","https://openalex.org/W2964157791","https://openalex.org/W3034213661","https://openalex.org/W3035305184","https://openalex.org/W3090256838","https://openalex.org/W3093006302","https://openalex.org/W3095367607","https://openalex.org/W3110536152","https://openalex.org/W3120909511","https://openalex.org/W3128099838","https://openalex.org/W3128125668","https://openalex.org/W3135588990","https://openalex.org/W3159481202","https://openalex.org/W3163149666","https://openalex.org/W3184915579","https://openalex.org/W3187923576","https://openalex.org/W3195577433","https://openalex.org/W4281551136","https://openalex.org/W4296890702","https://openalex.org/W4312336574","https://openalex.org/W4312597490","https://openalex.org/W4312854990","https://openalex.org/W4313156423","https://openalex.org/W4319300119","https://openalex.org/W4320858309","https://openalex.org/W4321319299","https://openalex.org/W4366208220","https://openalex.org/W4367189499","https://openalex.org/W4375956270","https://openalex.org/W4385431115","https://openalex.org/W4385507547","https://openalex.org/W4386066001","https://openalex.org/W4386076349","https://openalex.org/W4386952483","https://openalex.org/W4389667623","https://openalex.org/W6635734457","https://openalex.org/W6675402254","https://openalex.org/W6696847585","https://openalex.org/W6784333009","https://openalex.org/W6790570412","https://openalex.org/W6791353385","https://openalex.org/W6800751262","https://openalex.org/W6811470611","https://openalex.org/W6838117315","https://openalex.org/W6838149888","https://openalex.org/W6850420987","https://openalex.org/W6851800889","https://openalex.org/W6852404394","https://openalex.org/W6852830873","https://openalex.org/W6855760251"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2931662336","https://openalex.org/W2077865380","https://openalex.org/W4401768695","https://openalex.org/W2765597752","https://openalex.org/W2134894512","https://openalex.org/W2083375246","https://openalex.org/W2067108088","https://openalex.org/W2085372204"],"abstract_inverted_index":{"Visual":[0],"Place":[1],"Recognition":[2],"(VPR)":[3],"is":[4],"vital":[5],"for":[6,185],"robot":[7],"localization.":[8],"To":[9],"date,":[10],"the":[11,105,160],"most":[12,41],"performant":[13],"VPR":[14,59,115,187],"approaches":[15,42],"are":[16,104],"<italic":[17,54,98,122,132,168,193,197,203],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[18,55,99,123,133,141,169,194,198,204],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">environment-":[19],"and":[20,71,79,180,201],"task-specific:</i>":[21],"while":[22],"they":[23],"exhibit":[24],"strong":[25],"performance":[26,34,146,157],"in":[27,37,156],"structured":[28,70],"environments":[29,73],"(predominantly":[30],"urban":[31],"driving),":[32],"their":[33],"degrades":[35],"severely":[36],"unstructured":[38,72],"environments,":[39],"rendering":[40],"brittle":[43],"to":[44,58,110,136,139],"robust":[45],"real-world":[46],"deployment.":[47],"In":[48],"this":[49],"work,":[50],"we":[51],"develop":[52],"a":[53,61,66,113,153,183],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">universal</i>":[56],"solution":[57],"\u2013":[60],"technique":[62],"that":[63,89,189],"works":[64],"across":[65,202],"broad":[67],"range":[68],"of":[69,130,163],"(urban,":[74],"outdoors,":[75],"indoors,":[76],"aerial,":[77],"underwater,":[78],"subterranean":[80],"environments)":[81],"without":[82],"any":[83],"re-training":[84],"or":[85],"finetuning.":[86],"We":[87,150],"demonstrate":[88],"general-purpose":[90],"feature":[91,125],"representations":[92],"derived":[93,119],"from":[94,174],"off-the-shelf":[95],"self-supervised":[96],"models":[97],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">with":[100],"no":[101],"VPR-specific":[102],"training</i>":[103],"right":[106],"substrate":[107],"upon":[108],"which":[109,171],"build":[111],"such":[112],"universal":[114],"solution.":[116],"Combining":[117],"these":[118,164],"features":[120],"with":[121],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">unsupervised":[124],"aggregation</i>":[126],"enables":[127],"our":[128],"suite":[129],"methods,":[131],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">AnyLoc</i>":[134],",":[135,196,200],"achieve":[137],"up":[138],"<inline-formula":[140],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[142],"notation=\"LaTeX\">$4\\times$</tex-math></inline-formula>":[143],"significantly":[144],"higher":[145],"than":[147],"existing":[148],"approaches.":[149],"further":[151],"obtain":[152],"6%":[154],"improvement":[155],"by":[158],"characterizing":[159],"semantic":[161],"properties":[162],"features,":[165],"uncovering":[166],"unique":[167],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">domains</i>":[170],"encapsulate":[172],"datasets":[173],"similar":[175],"environments.":[176],"Our":[177],"detailed":[178],"experiments":[179],"analysis":[181],"lay":[182],"foundation":[184],"building":[186],"solutions":[188],"may":[190],"be":[191],"deployed":[192],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">anywhere</i>":[195],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">anytime</i>":[199],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">anyview</i>":[205],".":[206]},"counts_by_year":[{"year":2026,"cited_by_count":32},{"year":2025,"cited_by_count":95},{"year":2024,"cited_by_count":42}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}
