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In recent years there has been significant improvement in the capability ofVisual Place Recognition (VPR) methods, building on the success of bothhand-crafted and learnt visual features, temporal filtering and usage ofsemantic scene information. The wide range of approaches and the relativelyrecent growth in interest in the field has meant that a wide range of datasetsand assessment methodologies have been proposed, often with a focus only onprecision-recall type metrics, making comparison difficult. In this paper wepresent a comprehensive approach to evaluating the performance of 10state-of-the-art recently-developed VPR techniques, which utilizes threestandardized metrics: (a) Matching Performance b) Matching Time c) MemoryFootprint. Together this analysis provides an up-to-date and widelyencompassing snapshot of the various strengths and weaknesses of contemporaryapproaches to the VPR problem. The aim of this work is to help move thisparticular research field towards a more mature and unified approach to theproblem, enabling better comparison and hence more progress to be made infuture research.

Levelling the Playing Field: A Comprehensive Comparison of Visual Place Recognition Approaches under Changing Conditions