Visual localization under appearance change: a filtering approach

Anh-Dzung Doan, Yasir Latif, Tat-Jun Chin, Yu Liu, Shin Fang Ch'Ng, Thanh-Toan Do, Ian Reid

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

3 Citations (Scopus)


A major focus of current research on place recognition is visual localization for autonomous driving. In this scenario, as cameras will be operating continuously, it is realistic to expect videos as an input to visual localization algorithms, as opposed to the single-image querying approach used in other place recognition works. In this paper, we show that exploiting temporal continuity in the testing sequence significantly improves visual localization - qualitatively and quantitatively. Although intuitive, this idea has not been fully explored in recent works. Our main contribution is a novel Monte Carlo-based visual localization technique that can efficiently reason over the image sequence. Also, we propose an image retrieval pipeline which relies on local features and an encoding technique to represent an image as a single vector. The experimental results show that our proposed method achieves better results than state-of-the-art approaches for the task on visual localization under significant appearance change. Our synthetic dataset is made available at:

Original languageEnglish
Title of host publication2019 Digital Image Computing
Subtitle of host publicationTechniques and Applications (DICTA)
EditorsGhulam Mubashar Hassan
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Number of pages8
ISBN (Electronic)9781728138572, 9781728138565
ISBN (Print)9781728138589
Publication statusPublished - 2019
Externally publishedYes
EventDigital Image Computing Techniques and Applications 2019 - Perth, Australia
Duration: 2 Dec 20194 Dec 2019 (Proceedings) (Website)


ConferenceDigital Image Computing Techniques and Applications 2019
Abbreviated title DICTA 2019
Internet address


  • autonomous driving
  • image retrieval
  • Monte Carlo localization
  • place recognition

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