arXiv:2511.14109v1 Announce Type: new 
Abstract: Visual Place Recognition (VPR) aims to match query images against a database using visual cues. State-of-the-art methods aggregate features from deep backbones to form global descriptors. Optimal transport-based aggregation methods reformulate feature-to-cluster assignment as a transport problem, but the standard Sinkhorn algorithm symmetrically treats source and target marginals, limiting effectiveness when image features and cluster centers exhibit substantially different distributions. We propose an asymmetric aggregation VPR method with geometric constraints for locally aggregated descriptors, called $A^2$GC-VPR. Our method employs row-column normalization averaging with separate marginal calibration, enabling asymmetric matching that adapts to distributional discrepancies in visual place recognition. Geometric constraints are incorporated through learnable coordinate embeddings, computing compatibility scores fused with feature similarities, thereby promoting spatially proximal features to the same cluster and enhancing spatial awareness. Experimental results on MSLS, NordLand, and Pittsburgh datasets demonstrate superior performance, validating the effectiveness of our approach in improving matching accuracy and robustness.

$A^2$GC-VPR هو أسلوب جديد للتعرف على الأماكن البصرية (VPR) يتناول قيود أساليب التجميع التقليدية في مطابقة صور الاستعلام مع قاعدة بيانات. من خلال اعتماد نهج تجميع غير متماثل مع قيود هندسية، يعزز هذا الأسلوب فعالية مطابقة الميزات، خاصة عند التعامل مع توزيعات متباينة لميزات الصورة ومراكز التجمع. تستخدم التقنية متوسطات تطبيع الصفوف والأعمدة مع تضمينات إحداثيات قابلة للتعلم لتحسين درجات التوافق لوصفيات التجميع المحلي.

$A^2$GC-VPR es un nuevo método para el Reconocimiento Visual de Lugares (VPR) que aborda las limitaciones de los métodos de agregación tradicionales al emparejar imágenes de consulta con una base de datos. Al emplear un enfoque de agregación asimétrica con restricciones geométricas, este método mejora la efectividad del emparejamiento de características, especialmente cuando se enfrentan a distribuciones variables de características de imagen y centros de clúster. La técnica utiliza promedios de normalización fila-columna y embeddings de coordenadas aprendibles para mejorar las puntuaciones de…

$A^2$GC-VPR est une nouvelle méthode pour la reconnaissance de lieux visuels (VPR) qui s'attaque aux limites des méthodes d'agrégation traditionnelles dans l'appariement d'images de requête à une base de données. En adoptant une approche d'agrégation asymétrique avec des contraintes géométriques, cette méthode améliore l'efficacité de l'appariement des caractéristiques, en particulier lorsqu'il s'agit de distributions variées des caractéristiques d'image et des centres de clusters. La technique utilise une moyenne de normalisation ligne-colonne et des embeddings de coordonnées apprenables pour…

$A^2$GC-VPR is a new method for Visual Place Recognition (VPR) that addresses the limitations of traditional aggregation methods in matching query images to a database. By employing an asymmetric aggregation approach with geometric constraints, this method enhances the effectiveness of feature matching, particularly when dealing with varying distributions of image features and cluster centers. The technique utilizes row-column normalization averaging and learnable coordinate embeddings to improve compatibility scores for locally aggregated descriptors.

$A^2$GC: $A$symmetric $A$ggregation with Geometric Constraints for Locally Aggregated Descriptors

arXiv:2503.04096v2 Announce Type: replace-cross 
Abstract: Effective monitoring of underwater ecosystems is crucial for tracking environmental changes, guiding conservation efforts, and ensuring long-term ecosystem health. However, automating underwater ecosystem management with robotic platforms remains challenging due to the complexities of underwater imagery, which pose significant difficulties for traditional visual localization methods. We propose an integrated pipeline that combines Visual Place Recognition (VPR), feature matching, and image segmentation on video-derived images. This method enables robust identification of revisited areas, estimation of rigid transformations, and downstream analysis of ecosystem changes. Furthermore, we introduce the SQUIDLE+ VPR Benchmark-the first large-scale underwater VPR benchmark designed to leverage an extensive collection of unstructured data from multiple robotic platforms, spanning time intervals from days to years. The dataset encompasses diverse trajectories, arbitrary overlap and diverse seafloor types captured under varying environmental conditions, including differences in depth, lighting, and turbidity. Our code is available at: https://github.com/bev-gorry/underloc

تم اقتراح خط أنابيب متكامل جديد لمراقبة النظم البيئية تحت الماء، يجمع بين التعرف على الأماكن البصرية، ومطابقة الميزات، وتقسيم الصور لتحسين أتمتة إدارة النظم البيئية. تهدف هذه الطريقة إلى تحسين تحديد المناطق المعادة وتحليل التغيرات البيئية بمرور الوقت.

Se ha propuesto un nuevo pipeline integrado para el monitoreo de ecosistemas submarinos, combinando el Reconocimiento de Lugar Visual, la coincidencia de características y la segmentación de imágenes para mejorar la automatización de la gestión de ecosistemas. Este método busca mejorar la identificación de áreas revisitadas y el análisis de cambios ambientales a lo largo del tiempo.

Un nouveau pipeline intégré pour le suivi des écosystèmes sous-marins a été proposé, combinant la reconnaissance de lieu visuel, l'appariement de caractéristiques et la segmentation d'images pour améliorer l'automatisation de la gestion des écosystèmes. Cette méthode vise à améliorer l'identification des zones revisitées et l'analyse des changements environnementaux au fil du temps.

A new integrated pipeline for monitoring underwater ecosystems has been proposed, combining Visual Place Recognition, feature matching, and image segmentation to enhance the automation of ecosystem management. This method aims to improve the identification of revisited areas and the analysis of environmental changes over time.

$A^2$GC: $A$symmetric $A$ggregation with Geometric Constraints for Locally Aggregated Descriptors

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