Awesome Visual Place Recognition

A curated list of papers on Visual Place Recognition and related fields, inspired by awesome-NeRF. PRs are very much appreciated.

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Table of Contents

• Surveys
• Papers
• Talks

Surveys

Papers

Papers are roughly split into categories, and a paper can (rarely) appear in more than one category. Papers are sorted in reverse chronological order within each category.

Standard VPR

Title	First Author	Venue	Github	Bibtex
MegaLoc: One Retrieval to Place Them All	Gabriele Berton		GitHub	BibTex
Close, But Not There: Boosting Geographic Distance Sensitivity in Visual Place Recognition	Sergio Izquierdo	ECCV 2024	GitHub	BibTex
VLAD-BuFF: Burst-aware Fast Feature Aggregation for Visual Place Recognition	Ahmad Khaliq	ECCV 2024	GitHub	BibTex
Revisit Anything: Visual Place Recognition via Image Segment Retrieval	Kartik Garg	ECCV 2024	GitHub	Bibtex
Optimal Transport Aggregation for Visual Place Recognition	Sergio Izquierdo	CVPR 2024	GitHub	BibTex
CricaVPR: Cross-image Correlation-aware Representation Learning for Visual Place Recognition	Feng Lu	CVPR 2024	GitHub	BibTex
EigenPlaces: Training Viewpoint Robust Models for Visual Place Recognition	Gabriele Berton	ICCV 2023	GitHub	BibTex
AnyLoc: Towards Universal Visual Place Recognition	Nikhil Keetha	ArXiv 2023	GitHub	BibTex
MixVPR: Feature Mixing for Visual Place Recognition	Ali-bey Amar	WACV 2023	GitHub	BibTex
Data-efficient Large Scale Place Recognition with Graded Similarity Supervision	María Leyva-Vallina	CVPR 2023	GitHub	BibTex
Rethinking Visual Geo-localization for Large-Scale Applications	Berton Gabriele	CVPR 2022	GitHub	BibTex
GSV-Cities: Toward appropriate supervised visual place recognition	Ali-bey Amar	Neurocomputing 2022	GitHub	BibTex
Learning Semantics for Visual Place Recognition through Multi-Scale Attention	Valerio Paolicelli	ICIAP 2022	GitHub	BibTex
Attentional Pyramid Pooling of Salient Visual Residuals for Place Recognition	Peng Guohao	ICCV 2021		BibTex
Vector of Locally and Adaptively Aggregated Descriptors for Image Feature Representation	Jian Zhang	PR 2021		BibTex
Semantic Reinforced Attention Learning for Visual Place Recognition	Guohao Peng	ICRA 2021		BibTex
Self-supervising Fine-Grained Region Similarities for Large-Scale Image Localization	Ge Yixiao	ECCV 2020	GitHub	BibTex
Stochastic Attraction-Repulsion Embedding for Large Scale Image Localization	Liu Liu	ICCV 2019		BibTex
Attention-based Pyramid Aggregation Network for Visual Place Recognition	Yingying Zhu	ACM MM 2018		BibTex
Learned Contextual Feature Reweighting for Image Geo-Localization	Kim Hyo Jin	CVPR 2017		BibTex
NetVLAD: CNN architecture for weakly supervised place recognition	Relja Arandjelović	CVPR 2016	GitHub	BibTex
Visual Place Recognition with Repetitive Structures	A. Torii	PAMI 2015		BibTex
Learning and Calibrating Per-Location Classifiers for Visual Place Recognition	Gronat Petr	CVPR 2013		BibTex

VPR Datasets

Title	First Author	Venue	Github	Bibtex
Rethinking Visual Geo-localization for Large-Scale Applications	Berton Gabriele	CVPR 2022	GitHub	BibTex
GSV-Cities: Toward appropriate supervised visual place recognition	Ali-bey Amar	Neurocomputing 2022	GitHub	BibTex
AmsterTime: A Visual Place Recognition Benchmark Dataset for Severe Domain Shift	B. Yildiz	ICPR 2022		BibTex
Adaptive-Attentive Geolocalization From Few Queries: A Hybrid Approach	Berton Gabriele	WACV 2021	GitHub	BibTex
Google Landmarks Dataset v2 – A Large-Scale Benchmark for Instance-Level Recognition and Retrieval	Tobias Weyand	CVPR 2020	GitHub	BibTex
Mapillary Street-Level Sequences: A Dataset for Lifelong Place Recognition	Warburg Frederik	CVPR 2020	GitHub	BibTex
24/7 Place Recognition by View Synthesis	A. Torii	PAMI 2018		BibTex
Benchmarking 6DOF Outdoor Visual Localization in Changing Conditions	T. Sattler	cvpr 2018		BibTex
1 Year, 1000km: The Oxford RobotCar Dataset	W. Maddern	IJRR 2017	website
The SYNTHIA Dataset: A Large Collection of Synthetic Images for Semantic Segmentation of Urban Scenes	G. Ros	cvpr 2016		BibTex
University of Michigan North Campus long-term vision and lidar dataset	N. Carlevaris-Bianco	ijrr 2016	webisite
Image Geo-localization Based on Multiple Nearest Neighbor Feature Matching using Generalized Graphs	Zamir A.R.	PAMI 2014	website
Vision meets robotics: The KITTI dataset	A Geiger	IJRR 2013	website
Are we there yet? Challenging SeqSLAM on a 3000 km journey across all four seasons	N. Suenderhauf	ICRAW 2013		BibTex
Image retrieval for image-based localization revisited	Torsten Sattler	cvpr 2012		BibTex
City-scale landmark identification on mobile devices	D. M. Chen	CVPR 2011		BibTex
Avoiding confusing features in place recognition	Knopp J.	ECCV 2010		BibTex
Highly scalable appearance-only SLAM - FAB-MAP 2.0	M. Cummins	RSS 2009		BibTex
Mapping a Suburb With a Single Camera Using a Biologically Inspired SLAM System	Michael Milford	TRO 2008		BibTex

Uncertainty estimation in VPR

Title	First Author	Venue	Github	Bibtex
To Match or Not to Match: Revisiting Image Matching for Reliable Visual Place Recognition	Davide Sferrazza	ArXiv 2025	GitHub	BibTex
On the Estimation of Image-matching Uncertainty in Visual Place Recognition	Mubariz Zaffar	CVPR 2024	GitHub	BibTex
STUN: Self-Teaching Uncertainty Estimation for Place Recognition	Kaiwen Cai	IROS 2022	GitHub	BibTex
Bayesian Triplet Loss: Uncertainty Quantification in Image Retrieval	Frederik Warburg	ICCV 2021		BibTex

Cross-domain VPR

Title	First Author	Venue	Github	Bibtex
Adaptive-Attentive Geolocalization From Few Queries: A Hybrid Approach	Berton Gabriele	WACV 2021	GitHub	BibTex
Inside Out Visual Place Recognition	Sarah Ibrahimi	BMVC 2021	GitHub	BibTex
Night-to-day image translation for retrieval-based localization	Anoosheh Asha	ICRA 2019		BibTex
Attention-Aware Age-Agnostic Visual Place Recognition	Ziqi Wang	ICCVW 2019		BibTex
Lazy Data Association For Image Sequences Matching Under Substantial Appearance Changes	Olga Vysotska	RAL 2016		BibTex

Sequence-based VPR

Title	First Author	Venue	Github	Bibtex
Learning Sequence Descriptor based on Spatio-Temporal Attention for Visual Place Recognition	Fenglin Zhang	ArXiv 2023		BibTex
MATC-Net: Learning compact sequence representation for hierarchical loop closure detection	Fuji Fu	2023		BibTex
Learning Sequential Descriptors for Sequence-Based Visual Place Recognition	Riccardo Mereu	RAL 2022	GitHub	BibTex
SeqNet: Learning Descriptors for Sequence-based Hierarchical Place Recognition	Sourav Garg	RAL 2021	GitHub	BibTex
Fast and Memory Efficient Graph Optimization via ICM for Visual Place Recognition	Stefan Schubert	RSS 2021		BibTex
SeqSLAM: Visual route-based navigation for sunny summer days and stormy winter nights	Michael Milford	ICRA 2012		BibTex

Re-ranking

Title	First Author	Venue	Github	Bibtex
SelaVPR++: Towards Seamless Adaptation of Foundation Models for Efficient Place Recognition	Feng Lu		GitHub	BibTex
Pair-VPR: Place-Aware Pre-training and Contrastive Pair Classification for Visual Place Recognition with Vision Transformers	Stephen Hausler	IEEE RA-L 2025	GitHub	BibTex
Towards Seamless Adaptation of Pre-trained Models for Visual Place Recognition	Feng Lu	ICLR 2024	GitHub	BibTex
Are Local Features All You Need for Cross-Domain Visual Place Recognition?	Giovanni Barbarani	CVPRW 2023	GitHub	BibTex
R2former: Unified retrieval and reranking transformer for place recognition	Sijie Zhu	CVPR 2023	GitHub	BibTex
TransVPR: Transformer-Based Place Recognition With Multi-Level Attention Aggregation	Wang Ruotong	CVPR 2022		BibTex
Correlation Verification for Image Retrieval	Lee Seongwon	CVPR 2022	GitHub	BibTex
Viewpoint Invariant Dense Matching for Visual Geolocalization	Berton Gabriele	ICCV 2021	GitHub	BibTex
Patch-NetVLAD: Multi-Scale Fusion of Locally-Global Descriptors for Place Recognition	Hausler Stephen	CVPR 2021	GitHub	BibTex
LoFTR: Detector-Free Local Feature Matching with Transformers	Sun Jiaming	CVPR 2021	GitHub	BibTex
Instance-level Image Retrieval using Reranking Transformers	Fuwen Tan	ICCV 2021	GitHub	BibTex
DenserNet: Weakly Supervised Visual Localization Using Multi-scale Feature Aggregation	Liu Dongfang	AAAI 2021		BibTex
Unifying Deep Local and Global Features for Image Search	B. Cao	eccv 2020		BibTex
SuperGlue: Learning Feature Matching with Graph Neural Networks	Paul-Edouard Sarlin and	CVPR 2020	GitHub	BibTex
R2D2: Repeatable and Reliable Detector and Descriptor	Jerome Revaud	NIPS 2019	GitHub	BibTex
D2-Net: A Trainable CNN for Joint Detection and Description of Local Features	Dusmanu Mihai	CVPR 2019	GitHub	BibTex
Large-Scale Image Retrieval with Attentive Deep Local Features	Noh Hyeonwoo	ICCV 2017		BibTex

Benchmarks

Title	First Author	Venue	Github	Bibtex
Are Local Features All You Need for Cross-Domain Visual Place Recognition?	Giovanni Barbarani	CVPRW 2023	GitHub	BibTex
Deep Visual Geo-localization Benchmark	Berton Gabriele	CVPR 2022	GitHub	BibTex
VPR-Bench: An Open-Source Visual Place Recognition Evaluation Framework with Quantifiable Viewpoint and Appearance Change	Zaffar Mubariz	IJCV 2021	GitHub	BibTex
Benchmarking Image Retrieval for Visual Localization	Pion Noe	3DV 2020		BibTex
Benchmarking 6DOF Outdoor Visual Localization in Changing Conditions	T. Sattler	cvpr 2018		BibTex

World-wide Geo-Localization

Title	First Author	Venue	Github	Bibtex
PIGEON: Predicting Image Geolocations	Lukas Haas	CVPR 2024	GitHub	BibTex
OpenStreetView-5M: The Many Roads to Global Visual Geolocation	Guillaume Astruc	CVPR 2024	GitHub	BibTex
GeoCLIP: Clip-Inspired Alignment between Locations and Images for Effective Worldwide Geo-localization	Vicente Vivanco Cepeda	NeurIPS 2023	GitHub	BibTex
Where We Are and What We're Looking At: Query Based Worldwide Image Geo-localization Using Hierarchies and Scenes	Brandon Clark	CVPR 2023	GitHub	BibTex
Interpretable Semantic Photo Geolocation	Theiner Jonas	WACV 2022	GitHub	BibTex
Where in the World is this Image? Transformer-based Geo-localization in the Wild	Pramanick Shraman	ECCV 2022	GitHub	BibTex
Leveraging EfficientNet and Contrastive Learning for Accurate Global-scale Location Estimation	Giorgos Kordopatis-Zilos	ICMR 2021	GitHub	BibTex
Geolocation Estimation of Photos Using a Hierarchical Model and Scene Classification	Muller-Budack Eric	ECCV 2018	GitHub	BibTex
CPlaNet: Enhancing Image Geolocalization by Combinatorial Partitioning of Maps	Paul Hongsuck Seo	ECCV 2018		BibTex
Revisiting IM2GPS in the Deep Learning Era	Vo Nam	ICCV 2017		BibTex
PlaNet - Photo Geolocation with Convolutional Neural Networks	Tobias Weyand	ECCV 2016		BibTex
IM2GPS: estimating geographic information from a single image	James Hays	CVPR 2008		BibTex

Others

Title	First Author	Venue	Github	Bibtex
MeshVPR: Citywide Visual Place Recognition Using 3D Meshes	Gabriele Berton	ECCV 2024	GitHub	Bibtex
Divide&Classify: Fine-Grained Classification for City-Wide Visual Geo-localization	Gabriele Trivigno	ICCV 2023	GitHub	BibTex
Unifying Visual Localization and Scene Recognition for People With Visual Impairment	R. Cheng	IEEE Access 2020		BibTex
Scalable Place Recognition Under Appearance Change for Autonomous Driving	A. D. Doan	ICCV 2019		BibTex
Multi-Process Fusion: Visual Place Recognition Using Multiple Image Processing Methods	S. Hausler	ral 2019	GitHub	BibTex
Semantic–geometric visual place recognition: a new perspective for reconciling opposing views	S. Garg	IJRR 2019		BibTex
Are Large-Scale 3D Models Really Necessary for Accurate Visual Localization?	A. Torii	PAMI 2021		BibTex

Talks

• Benchmarking urban visual geo-localization, Carlo Masone, CVPR 2023
• Urban visual geo-localization: towards large-scale applications, Gabriele Berton, CVPR 2023
• Large-Scale Visual Localization, Giorgos Tolias, Yannis Avrithis, Zuzana Kukelova, Torsten Sattler, Sudipta n: Sinha, Eric Brachmann, ICCV 2021
• General Place Recognition Competition, Yimin Zhang, Luca Carlone, Michael Milford, Junyan Zhu, Ji Zhang, Sebastian Scherer, ICRA 2022
• Tutorial : Large-Scale Visual Place Recognition and Image-Based Localization Part 1, Akihiko Torii, Giorgos Tolias, CVPR 2017
• Tutorial : Large-Scale Visual Place Recognition and Image-Based Localization Part 2, Torsten Sattler, Alex Kendall, CVPR 2017

License

MIT