City-scale Visual Place Recognition With Deep Local Features Based On Multi-scale Ordered VLAD Pooling

Abstract

Visual place recognition is the task of recognizing a place depicted in an image based on its pure visual appearance without metadata. In visual place recognition, the challenges lie upon not only the changes in lighting conditions, camera viewpoint, and scale but also the characteristic of scene-level images and the distinct features of the area. To resolve these challenges, one must consider both the local discriminativeness and the global semantic context of images. On the other hand, the diversity of the datasets is also particularly important to develop more general models and advance the progress of the field. In this paper, we present a fully-automated system for place recognition at a city-scale based on content-based image retrieval. Our main contributions to the community lie in three aspects. Firstly, we take a comprehensive analysis of visual place recognition and sketch out the unique challenges of the task compared to general image retrieval tasks. Next, we propose yet a

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• arxiv keyle2020city

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