Joint Multi-Condition Representation Modelling via Matrix Factorisation for Visual Place Recognition

Abstract

We address multi-reference visual place recognition (VPR), where reference sets captured under varying conditions are used to improve localisation performance. While deep learning with large-scale training improves robustness, increasing data diversity and model complexity incur extensive computational cost during training and deployment. Descriptor-level fusion via voting or aggregation avoids training, but often targets multi-sensor setups or relies on heuristics with limited gains under appearance and viewpoint change. We propose a training-free, descriptor-agnostic approach that jointly models places using multiple reference descriptors via matrix decomposition into basis representations, enabling projection-based residual matching. We also introduce SotonMV, a structured benchmark for multi-viewpoint VPR. On multi-appearance data, our method improves Recall@1 by up to ~18% over single-reference and outperforms multi-reference baselines across appearance and viewpoint changes, with gains of ~5% on unstructured data, demonstrating strong generalisation while remaining lightweight.