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<!DOCTYPE html>
<html>
<head>
<link rel = "icon" href = "assets/title_image.png" type = "image/x-icon">
<meta charset="utf-8">
<meta name="description"
content="AnyLoc: Towards Universal Visual Place Recognition ">
<meta name="keywords" content="AnyLoc,FoundVLAD, Foundation Models, Visual Place Recognition, VPR, DINOv2, DINO, SAM">
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<h1 class="title is-2 publication-title">AnyLoc: Towards Universal Visual Place Recognition</h1>
<h2 class="title is-6 publlication-title">IEEE Robotics and Automation Letters (RA-L) 2023 & ICRA 2024</h2>
<div class="is-size-6 publication-authors">
<span class="author-block">
<a href="https://nik-v9.github.io/">Nikhil Keetha*</a><sup>1</sup>,</span>
<span class="author-block">
<a href="https://theprojectsguy.github.io/">Avneesh Mishra*</a><sup>2</sup>,</span>
<span class="author-block">
<a href="https://jaykarhade.netlify.app/">Jay Karhade*</a><sup>1</sup>,</span>
<span class="author-block">
<a href="https://krrish94.github.io/">Krishna Murthy Jatavallabhula</a><sup>3</sup>,</span>
<br>
<span class="author-block">
<a href="https://theairlab.org/">Sebastian Scherer</a><sup>1</sup>,</span>
<span class="author-block">
<a href="https://robotics.iiit.ac.in/">Madhava Krishna</a><sup>2</sup>,</span>
<span class="author-block">
<a href="https://scholar.google.co.in/citations?user=oVS3HHIAAAAJ&hl=en">Sourav Garg</a><sup>4</sup></span>
</div>
<div class="is-size-6 publication-authors">
<span class="author-block"><sup>1</sup>CMU</a>,
<sup>2</sup>IIIT-Hyderabad</a>,
<sup>3</sup>MIT</a>,
<sup>4</sup>AIML, University of Adelaide</a></span>
</div>
<div class="is-size-7 publication-authors">
<span class="author-block"><sup>*</sup>Co-first authors</span>
</div>
<div class="column has-text-centered">
<div class="publication-links">
<!-- PDF Link. -->
<span class="link-block">
<a href="assets/AnyLoc.pdf"
class="external-link button is-normal ">
<span class="icon">
<i class="fas fa-file-pdf"></i>
</span>
<span>Paper</span>
</a>
</span>
<span class="link-block">
<a href="https://arxiv.org/abs/2308.00688"
class="external-link button is-normal ">
<span class="icon">
<i class="ai ai-arxiv"></i>
</span>
<span>arXiv</span>
</a>
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</a>
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<a href="https://github.com/AnyLoc/AnyLoc"
class="external-link button is-normal ">
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<i class="fab fa-github"></i>
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<span>Code</span>
</a>
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<span>Demo</span>
</a>
</span>
<!-- Hugging Face Demo Link. -->
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class="external-link button is-normal">
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<span>HF Demo</span>
</a>
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</div>
</div>
</div>
</section>
<section class="hero teaser">
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<!-- <video id="teaser" autoplay muted loop playsinline height="100%"> -->
<!-- <img source src="./data/method_viz/Splash GIF.gif" /> -->
<video id="dinov2_gardens" autoplay controls muted loop playsinline height="100%">
<source src="./data/method_viz/splash_vid_compressed.mp4"
type="video/mp4">
</video>
<!-- </video> -->
<h2 class="subtitle has-text-centered">
<span class="coolname">AnyLoc</span> enables <span>universal visual place recognition (VPR) <i>anywhere</i>, <i>anytime</i> and under <i>anyview</i>.</span>
</h2>
</div>
</div>
</section>
<section class="hero is-small is-light">
<div class="hero-body">
<div class="container is-max-desktop">
<!-- Abstract. -->
<div class="columns is-centered has-text-centered">
<div class="column is-four-fifths">
<h2 class="title is-3">Abstract</h2>
<div class="content has-text-justified">
<p>
VPR is vital for robot
localization. To date, the most performant VPR approaches
are environment- and task-specific: while they exhibit strong
performance in structured environments (predominantly urban
driving), their performance degrades severely in unstructured
environments, rendering most approaches brittle to robust realworld deployment. In this work, we develop a universal solution
to VPR – a technique that works across a broad range of
structured and unstructured environments (urban, outdoors,
indoors, aerial, underwater, and subterranean environments)
without any re-training or finetuning. We demonstrate that
general-purpose feature representations derived from off-theshelf self-supervised models with no VPR-specific training are
the right substrate upon which to build such a universal VPR
solution. Combining these derived features with unsupervised
feature aggregation enables our suite of methods, AnyLoc,
to achieve up to 4× significantly higher performance than
existing approaches. We further obtain a 6% improvement
in performance by characterizing the semantic properties of
these features, uncovering unique domains which encapsulate
datasets from similar environments. Our detailed experiments
and analysis lay a foundation for building VPR solutions
that may be deployed anywhere, anytime, and across anyview.
</p>
</div>
</div>
</div>
</div>
<!-- Paper video. -->
<!-- <div class="columns is-centered has-text-centered">
<div class="column is-four-fifths">
<h2 class="title is-3">Video</h2>
<div class="publication-video">
<a id="overview_video"></a>
<iframe
src="./data/">
</iframe>
</div>
</div>
</div>
</div> -->
<!--/ Paper video. -->
</section>
<section class="section">
<div class="container is-max-desktop">
<div class="columns is-centered has-text-centered">
<div class="column">
<h2 class="title is-3">AnyLoc Performance</h2>
<p></p>
</div>
</div>
<div class="columns is-centered has-text-centered">
<img id="AnyLoc Performance" src = "data/method_viz/performance_radar_cropped.gif" width="500">
<div class="columns is-centered has-text-centered">
</div>
</section>
<section class="hero is-light">
<div class="hero-body">
<!-- Paper video. -->
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<div class="column is-three-fifths">
<h2 class="title is-3">Video</h2>
<div class="publication-video">
<iframe width="560" height="315" src="https://www.youtube.com/embed/ITo8rMInatk" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" allowfullscreen></iframe> </div>
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<!--Paper video-->
</section>
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<div class="container is-max-desktop">
<div class="columns is-centered has-text-centered">
<div class="column">
<a id="interactive_demo"></a>
<h2 class="title is-3">Try out Universal VPR in action!</h2>
<div class="content has-text-justified">
<p>
Simply click on any point on the query trajectory (upper left), and observe its best retrieval and similarity heatmap on the database trajectory (upper right).
Use the drop-down menu to switch to a different environment.
The corresponding query and the best retrieval image is visualized at the lower left and lower right respectively.
Points that are identified by ⭐ on the database trajectory indicate the best retrieval.
Yellow indicates higher similarity in the database trajectory (upper right).
</p>
</div>
</div>
</div>
<div class="columns is-centered">
<div class="control-row">
<select class="trajectorydata">
</select>
</div>
</div>
<div class="columns is-centered">
<div class="column has-text-centered">
<div class="content">
<div id="myPlot"></div>
</div>
</div>
<div class="column has-text-centered">
<div class="content">
<div id="sim_myPlot"></div>
</div>
</div>
</div>
<div class="columns is-centered">
<div class="column has-text-centered">
<div class="content">
<h2 class="title is-4">Query Image</h2>
<img id="q_image" src = "data/VPAir_images/subsampled_vpair/queries/00001.png" width="500">
</div>
</div>
<div class="column has-text-centered">
<div class="content">
<h2 class="title is-4">Retrieved Image</h2>
<img id="db_image" src = "data/VPAir_images/subsampled_vpair/reference_views/00001.png" width="500">
</div>
</div>
<script src = "data/trajectory_data/hawkins.js"></script>
<script src = "demo/plot.js"></script>
</div>
<p></p>
</div>
</section>
<section class="hero is-small is-light">
<div class="hero-body">
<div class="columns is-centered has-text-centered">
<div class="column">
<h2 class="title is-3">Qualitative Retrieval Visualizations</h2>
<p></p>
</div>
</div>
<div class="container is-max-desktop">
<div class="columns is-centered">
<div class="column has-text-centered">
<div class="content">
<h2 class="title is-4">VPAir</h2>
<video id="dinov2_gardens" autoplay controls muted loop playsinline height="100%">
<source src="./data/trajectory_videos/vpair_test.mp4"
type="video/mp4">
</video>
<!-- <img src = "data/viz_gifs/row3_col3.gif"> -->
</div>
</div>
<div class="column has-text-centered">
<div class="content">
<h2 class="title is-4">Hawkins</h2>
<video id="dinov2_gardens" autoplay controls muted loop playsinline height="100%">
<source src="./data/trajectory_videos/map_sim_1.mp4"
type="video/mp4">
</video>
<!-- <img src = "data/viz_gifs/row3_col3.gif"> -->
</div>
</div>
<div class="column has-text-centered">
<div class="content">
<h2 class="title is-4">Laurel Caverns</h2>
<video id="dinov2_gardens" autoplay controls muted loop playsinline height="100%">
<source src="./data/trajectory_videos/laurel_map_sim.mp4"
type="video/mp4">
</video>
<!-- <img src = "data/viz_gifs/row3_col3.gif"> -->
</div>
</div>
</div>
</div>
</div>
</section>
<section class="section">
<div class="container is-max-desktop">
<div class="columns is-centered has-text-centered">
<div class="column">
<h2 class="title is-3">Vocabulary Visualizations on Gardens Point</h2>
<p></p>
</div>
</div>
<div class="columns is-centered">
<div class="column has-text-centered">
<div class="content">
<h2 class="title is-4">Database Sample</h2>
<video id="dinov2_gardens" autoplay controls muted loop playsinline height="100%">
<source src="./data/viz_videos/row1_col1.webm"
type="video/mp4">
</video>
<!-- <img src = "data/viz_gifs/row1_col1.gif"> -->
</div>
</div>
<div class="column has-text-centered">
<div class="content">
<h2 class="title is-4">Query Sample</h2>
<video id="dinov2_gardens" autoplay controls muted loop playsinline height="100%">
<source src="./data/viz_videos/row1_col2.webm"
type="video/mp4">
</video>
<!-- <img src = "data/viz_gifs/row1_col2.gif"> -->
</div>
</div>
</div>
<p></p>
</div>
</section>
<section class="hero hero is-light is-small">
<div class="hero-body">
<div class="container is-max-desktop">
<div class="columns is-centered has-text-centered">
<div class="column">
<h2 class="title is-3">Vocabulary Visualizations comparing DINO & DINOv2</h2>
<p></p>
</div>
</div>
<div class="columns is-centered">
<div class="column has-text-centered">
<div class="content">
<h2 class="title is-4">DINO ViT-S L9 Key</h2>
<video id="dinov2_gardens" autoplay controls muted loop playsinline height="100%">
<source src="./data/viz_videos/row2_col1.webm"
type="video/mp4">
</video>
<!-- <img src = "data/viz_gifs/row2_col1.gif"> -->
</div>
</div>
<div class="column has-text-centered">
<div class="content">
<h2 class="title is-4">DINOv2 ViT-S L10 Value</h2>
<video id="dinov2_gardens" autoplay controls muted loop playsinline height="100%">
<source src="./data/viz_videos/row2_col2.webm"
type="video/mp4">
</video>
<!-- <img src = "data/viz_gifs/row2_col2.gif"> -->
</div>
</div>
</div>
</div>
<p></p>
</div>
</section>
<section class="hero is-small">
<div class="hero-body">
<div class="container is-max-desktop">
<div class="columns is-centered has-text-centered">
<div class="column">
<h2 class="title is-3">Vocabulary Visualizations across DINO & DINOv2 layers</h2>
<p></p>
</div>
</div>
<div class="columns is-centered">
<div class="column has-text-centered">
<div class="content">
<h2 class="title is-4">DINO ViT-S Key</h2>
<video id="dinov2_gardens" autoplay controls muted loop playsinline height="100%">
<source src="./data/viz_videos/row3_col1.webm"
type="video/mp4">
</video>
<!-- <img src = "data/viz_gifs/row3_col1.gif"> -->
</div>
</div>
<div class="column has-text-centered">
<div class="content">
<h2 class="title is-4">DINOv2 ViT-S Value</h2>
<video id="dinov2_gardens" autoplay controls muted loop playsinline height="100%">
<source src="./data/viz_videos/row3_col2.webm"
type="video/mp4">
</video>
<!-- <img src = "data/viz_gifs/row3_col2.gif"> -->
</div>
</div>
<div class="column has-text-centered">
<div class="content">
<h2 class="title is-4">DINOv2 ViT-G Value</h2>
<video id="dinov2_gardens" autoplay controls muted loop playsinline height="100%">
<source src="./data/viz_videos/row3_col3.webm"
type="video/mp4">
</video>
<!-- <img src = "data/viz_gifs/row3_col3.gif"> -->
</div>
</div>
</div>
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$('#click-query-icl').attr('autoplay', 'autoplay');
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<section class="section" id="BibTeX">
<div class="container is-max-desktop content">
<h2 class="title is-3">BibTeX</h2>
<pre><code>
@article{keetha2023anyloc,
title={Anyloc: Towards universal visual place recognition},
author={Keetha, Nikhil and Mishra, Avneesh and Karhade, Jay and Jatavallabhula, Krishna Murthy and Scherer, Sebastian and Krishna, Madhava and Garg, Sourav},
journal={IEEE Robotics and Automation Letters},
year={2023},
publisher={IEEE}
}
</code></pre>
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