Spatial Pyramid-Enhanced NetVLAD With Weighted Triplet Loss for Place Recognition.

We propose an end-to-end place recognition model based on a novel deep neural network. First, we propose to exploit the spatial pyramid structure of the images to enhance the vector of locally aggregated descriptors (VLAD) such that the enhanced VLAD features can reflect the structural information of the images. To encode this feature extraction into the deep learning method, we build a spatial py...