Localization is an essential capability for mobile robots. A rapidly growing field of research in this area is Visual Place Recognition (VPR), which is the ability to recognize previously seen places in the world based solely on images. This present work is the first tutorial paper on visual place recognition. It unifies the terminology of VPR and complements prior research in two important directions: 1) It provides a systematic introduction for newcomers to the field, covering topics such as the formulation of the VPR problem, a general-purpose algorithmic pipeline, an evaluation methodology for VPR approaches, and the major challenges for VPR and how they may be addressed. 2) As a contribution for researchers acquainted with the VPR problem, it examines the intricacies of different VPR problem types regarding input, data processing, and output. The tutorial also discusses the subtleties behind the evaluation of VPR algorithms, e.g., the evaluation of a VPR system that has to find all matching database images per query, as opposed to just a single match. Practical code examples in Python illustrate to prospective practitioners and researchers how VPR is implemented and evaluated.

Stefan Schubert

Peer Neubert

Sourav Garg

Michael Milford

Tobias Fischer

IEEE Robotics &amp; Automation Magazine

IEEE Robotics & Automation Magazine is a unique technology publication which is peer-reviewed, readable and substantive.  The Magazine is a forum for articles which fall between the academic and theoretical orientation of scholarly journals and vendor sponsored trade publications.  IEEE Transactions on Robotics and IEEE Transactions on Automation Science and Engineering publish advances in theory and experiment that underpin the science of robotics and automation.  The Magazine complements these publications and seeks to present new scientific results to the practicing engineer through a focus on working systems and emphasizing creative solutions to real-world problems and highlighting implementation details. The Magazine publishes regular technical articles that undergo a peer review process overseen by the Magazine's associate editors; special issues on important and emerging topics in which all articles are fully reviewed but managed by guest editors; tutorial articles written by leading experts in their field; and regular columns on topics including education, industry news, IEEE RAS news, technical and regional activity and a calendar of events.

IEEE Robotics and Automation Magazine is a unique technology publication that is peer-reviewed, readable, and substantive. The magazine serves as a forum for articles that bridge the gap between the academic and theoretical focus of scholarly journals and vendor-sponsored trade publications. IEEE Transactions on Robotics and IEEE Transactions on Automation Science and Engineering publish advances in theory and experiments that underpin the science of robotics and automation. This magazine complements these publications and aims to present new scientific results to practicing engineers by focusing on working systems, emphasizing creative solutions to real-world problems, and highlighting implementation details. The magazine publishes regular technical articles that undergo a peer review process overseen by the magazine's associate editors; special issues on important and emerging topics where all articles are fully reviewed but managed by guest editors; tutorial articles written by leading experts in their fields; and regular columns on topics including education, industry news, IEEE RAS news, technical and regional activities, and a calendar of events.

《IEEE Robotics and Automation Magazine》是一本独特的技术期刊，经过同行评审，内容可读且实质丰富。该期刊为介于学术期刊的理论导向与供应商赞助的贸易出版物之间的文章提供了一个论坛。《IEEE Transactions on Robotics》和《IEEE Transactions on Automation Science and Engineering》发表支撑机器人和自动化科学的理论和实验的进展。该期刊补充了这些出版物，旨在通过关注实际系统、强调解决现实问题的创造性方案和突出实施细节，向实践工程师展示新的科学成果。该期刊定期发表经过同行评审的技术文章，由期刊的副编辑监督；针对重要和新兴主题的特刊，所有文章均经过全面审查，但由客座编辑管理；由该领域的领先专家撰写的教程文章；以及关于教育、行业新闻、IEEE RAS新闻、技术和地区活动以及事件日历的定期专栏。

Category	Quartile
计算机科学	3
计算机科学, 自动化与控制系统	3
计算机科学, 机器人学	3

Visual Place Recognition: A Tutorial

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