Optimal Transport Aggregation for Visual Place Recognition

• URL: http://arxiv.org/abs/2311.15937v2
• Date: Thu, 27 Jun 2024 08:21:16 GMT
• Title: Optimal Transport Aggregation for Visual Place Recognition
• Authors: Sergio Izquierdo, Javier Civera,
• Abstract summary: We introduce SALAD, which reformulates NetVLAD's soft-assignment of local features to clusters as an optimal transport problem. In SALAD, we consider both feature-to-cluster and cluster-to-feature relations and we also introduce a 'dustbin' cluster, designed to selectively discard features deemed non-informative. Our single-stage method surpasses single-stage baselines in public VPR datasets, but also surpasses two-stage methods that add a re-ranking with significantly higher cost.
• Score: 9.192660643226372
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: The task of Visual Place Recognition (VPR) aims to match a query image against references from an extensive database of images from different places, relying solely on visual cues. State-of-the-art pipelines focus on the aggregation of features extracted from a deep backbone, in order to form a global descriptor for each image. In this context, we introduce SALAD (Sinkhorn Algorithm for Locally Aggregated Descriptors), which reformulates NetVLAD's soft-assignment of local features to clusters as an optimal transport problem. In SALAD, we consider both feature-to-cluster and cluster-to-feature relations and we also introduce a 'dustbin' cluster, designed to selectively discard features deemed non-informative, enhancing the overall descriptor quality. Additionally, we leverage and fine-tune DINOv2 as a backbone, which provides enhanced description power for the local features, and dramatically reduces the required training time. As a result, our single-stage method not only surpasses single-stage baselines in public VPR datasets, but also surpasses two-stage methods that add a re-ranking with significantly higher cost. Code and models are available at https://github.com/serizba/salad.

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