Skip to Main content Skip to Navigation
Journal articles

Visual Place Recognition with Repetitive Structures

Akihiko Torii 1, * Josef Sivic 2, 3 Masatoshi Okutomi 1 Tomas Pajdla 4 
* Corresponding author
2 WILLOW - Models of visual object recognition and scene understanding
DI-ENS - Département d'informatique - ENS Paris, Inria Paris-Rocquencourt, CNRS - Centre National de la Recherche Scientifique : UMR8548
Abstract : Repeated structures such as building facades, fences or road markings often represent a significant challenge for place recognition. Repeated structures are notoriously hard for establishing correspondences using multi-view geometry. They violate the feature independence assumed in the bag-of-visual-words representation which often leads to over-counting evidence and significant degradation of retrieval performance. In this work we show that repeated structures are not a nuisance but, when appropriately represented, they form an important distinguishing feature for many places. We describe a representation of repeated structures suitable for scalable retrieval and geometric verification. The retrieval is based on robust detection of repeated image structures and a suitable modification of weights in the bag-of-visual-word model. We also demonstrate that the explicit detection of repeated patterns is beneficial for robust visual word matching for geometric verification. Place recognition results are shown on datasets of street-level imagery from Pittsburgh and San Francisco demonstrating significant gains in recognition performance compared to the standard bag-of-visual-words baseline as well as the more recently proposed burstiness weighting and Fisher vector encoding.
Document type :
Journal articles
Complete list of metadata

Cited literature [59 references]  Display  Hide  Download
Contributor : Josef Sivic Connect in order to contact the contributor
Submitted on : Sunday, May 17, 2015 - 9:48:54 PM
Last modification on : Tuesday, July 5, 2022 - 8:38:34 AM
Long-term archiving on: : Tuesday, September 15, 2015 - 1:12:32 AM


Files produced by the author(s)




Akihiko Torii, Josef Sivic, Masatoshi Okutomi, Tomas Pajdla. Visual Place Recognition with Repetitive Structures. IEEE Transactions on Pattern Analysis and Machine Intelligence, Institute of Electrical and Electronics Engineers, 2015, pp.1-14. ⟨10.1109/TPAMI.2015.2409868⟩. ⟨hal-01152483⟩



Record views


Files downloads