{"id":"https://openalex.org/W7138112144","doi":"https://doi.org/10.48550/arxiv.2603.13917","title":"Evaluation of Visual Place Recognition Methods for Image Pair Retrieval in 3D Vision and Robotics","display_name":"Evaluation of Visual Place Recognition Methods for Image Pair Retrieval in 3D Vision and Robotics","publication_year":2026,"publication_date":"2026-03-14","ids":{"openalex":"https://openalex.org/W7138112144","doi":"https://doi.org/10.48550/arxiv.2603.13917"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.13917","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.13917","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.13917","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5034957241","display_name":"Dennis Haitz","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Haitz, Dennis","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129646538","display_name":"Athradi Shritish Shetty","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shetty, Athradi Shritish","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017002784","display_name":"Michael Weinmann","orcid":"https://orcid.org/0000-0003-3634-0093"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Weinmann, Michael","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5121767200","display_name":"Markus Ulrich","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ulrich, Markus","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.5947999954223633,"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":0.5947999954223633,"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":0.3345000147819519,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.024299999698996544,"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/aliasing","display_name":"Aliasing","score":0.5511000156402588},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5249999761581421},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.5102999806404114},{"id":"https://openalex.org/keywords/image-retrieval","display_name":"Image retrieval","score":0.46459999680519104},{"id":"https://openalex.org/keywords/disjoint-sets","display_name":"Disjoint sets","score":0.42800000309944153},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.42660000920295715},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4147000014781952},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.4025000035762787},{"id":"https://openalex.org/keywords/visual-word","display_name":"Visual Word","score":0.3662000000476837}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8187999725341797},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7089999914169312},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6862999796867371},{"id":"https://openalex.org/C4069607","wikidata":"https://www.wikidata.org/wiki/Q868732","display_name":"Aliasing","level":3,"score":0.5511000156402588},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5249999761581421},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.5102999806404114},{"id":"https://openalex.org/C1667742","wikidata":"https://www.wikidata.org/wiki/Q10927554","display_name":"Image retrieval","level":3,"score":0.46459999680519104},{"id":"https://openalex.org/C45340560","wikidata":"https://www.wikidata.org/wiki/Q215382","display_name":"Disjoint sets","level":2,"score":0.42800000309944153},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.42660000920295715},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4147000014781952},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.4025000035762787},{"id":"https://openalex.org/C189391414","wikidata":"https://www.wikidata.org/wiki/Q7936579","display_name":"Visual Word","level":4,"score":0.3662000000476837},{"id":"https://openalex.org/C9417928","wikidata":"https://www.wikidata.org/wiki/Q1070689","display_name":"Image processing","level":3,"score":0.35199999809265137},{"id":"https://openalex.org/C199579030","wikidata":"https://www.wikidata.org/wiki/Q2851778","display_name":"Automatic image annotation","level":4,"score":0.3181000053882599},{"id":"https://openalex.org/C126422989","wikidata":"https://www.wikidata.org/wiki/Q93586","display_name":"Feature detection (computer vision)","level":4,"score":0.2971999943256378},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.28929999470710754},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.2800000011920929},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.2777000069618225},{"id":"https://openalex.org/C166704113","wikidata":"https://www.wikidata.org/wiki/Q861092","display_name":"Image registration","level":3,"score":0.26989999413490295},{"id":"https://openalex.org/C184898388","wikidata":"https://www.wikidata.org/wiki/Q1435712","display_name":"Pairwise comparison","level":2,"score":0.259799987077713},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.2563999891281128},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.25459998846054077},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.2522999942302704},{"id":"https://openalex.org/C120515352","wikidata":"https://www.wikidata.org/wiki/Q2564580","display_name":"Image plane","level":3,"score":0.2500999867916107}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.13917","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.13917","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.13917","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.13917","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Visual":[0],"Place":[1],"Recognition":[2],"(VPR)":[3],"is":[4,42],"a":[5],"core":[6],"component":[7],"in":[8,120],"computer":[9],"vision,":[10],"typically":[11],"formulated":[12],"as":[13,30,57,114],"an":[14,31],"image":[15,32,46,51,116],"retrieval":[16,34,118],"task":[17],"for":[18,36,53,143],"localization,":[19],"mapping,":[20],"and":[21,61,79,94,100,126,134,146],"navigation.":[22],"In":[23],"this":[24],"work,":[25],"we":[26],"instead":[27],"study":[28],"VPR":[29,67,141],"pair":[33,117],"front-end":[35],"registration":[37],"pipelines,":[38],"where":[39],"the":[40],"goal":[41],"to":[43],"find":[44],"top-matching":[45],"pairs":[47],"between":[48],"two":[49],"disjoint":[50],"sets":[52],"downstream":[54],"tasks":[55],"such":[56],"scene":[58],"registration,":[59],"SLAM,":[60],"Structure-from-Motion.":[62],"We":[63,104],"comparatively":[64],"evaluate":[65],"state-of-the-art":[66],"families":[68],"-":[69,85],"NetVLAD-style":[70],"baselines,":[71],"classification-based":[72],"global":[73,108],"descriptors":[74],"(CosPlace,":[75],"EigenPlaces),":[76],"feature-mixing":[77],"(MixVPR),":[78],"foundation-model-driven":[80],"methods":[81],"(AnyLoc,":[82],"SALAD,":[83],"MegaLoc)":[84],"on":[86],"three":[87],"challenging":[88,121],"datasets:":[89],"object-centric":[90],"outdoor":[91],"scenes":[92],"(Tanks":[93],"Temples),":[95],"indoor":[96],"RGB-D":[97],"scans":[98],"(ScanNet-GS),":[99],"autonomous-driving":[101],"sequences":[102],"(KITTI).":[103],"show":[105],"that":[106,136],"modern":[107],"descriptor":[109],"approaches":[110],"are":[111,137],"increasingly":[112],"suitable":[113],"off-the-shelf":[115],"modules":[119],"scenarios":[122],"including":[123],"perceptual":[124],"aliasing":[125],"incomplete":[127],"sequences,":[128],"while":[129],"exhibiting":[130],"clear,":[131],"domain-dependent":[132],"strengths":[133],"weaknesses":[135],"critical":[138],"when":[139],"choosing":[140],"components":[142],"robust":[144],"mapping":[145],"registration.":[147]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-03-18T00:00:00"}