Visual Place Recognition: A Tutorial

Understand

Localization is an essential capability for mobile robots.

• A rapidly growing field of research in this area is Visual Place Recognition (VPR), which is the ability to recognize previously seen places in the world based solely on images.
• This present work is the first tutorial paper on visual place recognition.
• It unifies the terminology of VPR and complements prior research in two important directions: 1) It provides a systematic introduction for newcomers to the field, covering topics such as the formulation of the VPR problem, a general-purpose algorithmic pipeline, an evaluation methodology for VPR approaches, and the major challenges for VPR and how they may be addressed.