TRAIL: Trajectory-Aware Visual Place Recognition against Unordered Databases
Modern Visual Place Recognition (VPR) methods excel on standard benchmarks yet remain brittle in feature-poor environments. By treating each query image in isolation, they discard the sequential context in any real trajectory. We formalize a task that exploits this context: given a query sequence, localize the final image against an unordered reference database -- which, unlike sequence-to-sequence methods, requires no sequential structure in the database. We propose TRAIL (TRajectory-Aware Image Localization), a principled framework based on Conditional Random Fields (CRF) that combines learned functions for visual similarity and for camera-motion consistency, refining a distribution ove...
| Authors | Dominik A. Kloepfer, Patrick Wenzel |
|---|---|
| Primary category | cs.CV |
| Published | 7 September 2026 |
| Last updated at source | 7 September 2026 |
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