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<front>
<journal-meta>
<journal-id journal-id-type="publisher">ISPRS-Annals</journal-id>
<journal-title-group>
<journal-title>ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences</journal-title>
<abbrev-journal-title abbrev-type="publisher">ISPRS-Annals</abbrev-journal-title>
<abbrev-journal-title abbrev-type="nlm-ta">ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci.</abbrev-journal-title>
</journal-title-group>
<issn pub-type="epub">2194-9050</issn>
<publisher><publisher-name>Copernicus Publications</publisher-name>
<publisher-loc>Göttingen, Germany</publisher-loc>
</publisher>
</journal-meta>
<article-meta>
<article-id pub-id-type="doi">10.5194/isprs-annals-XI-2-2026-647-2026</article-id>
<title-group>
<article-title>Evaluation of Visual Place Recognition Methods for Image Pair Retrieval in 3D Vision and Robotics</article-title>
</title-group>
<contrib-group><contrib contrib-type="author" xlink:type="simple"><name name-style="western"><surname>Haitz</surname>
<given-names>Dennis</given-names>
</name>
<xref ref-type="aff" rid="aff1">
<sup>1</sup>
</xref>
</contrib>
<contrib contrib-type="author" xlink:type="simple"><name name-style="western"><surname>Shetty</surname>
<given-names>Athradi Shritish</given-names>
</name>
<xref ref-type="aff" rid="aff1">
<sup>1</sup>
</xref>
</contrib>
<contrib contrib-type="author" xlink:type="simple"><name name-style="western"><surname>Weinmann</surname>
<given-names>Michael</given-names>
</name>
<xref ref-type="aff" rid="aff2">
<sup>2</sup>
</xref>
</contrib>
<contrib contrib-type="author" xlink:type="simple"><name name-style="western"><surname>Ulrich</surname>
<given-names>Markus</given-names>
</name>
<xref ref-type="aff" rid="aff1">
<sup>1</sup>
</xref>
</contrib>
</contrib-group><aff id="aff1">
<label>1</label>
<addr-line>Institute of Photogrammetry and Remote Sensing, Karlsruhe Institute of Technology, Karlsruhe, Germany</addr-line>
</aff>
<aff id="aff2">
<label>2</label>
<addr-line>Department of Intelligent Systems, Delft University of Technology, Delft, The Netherlands</addr-line>
</aff>
<pub-date pub-type="epub">
<day>03</day>
<month>07</month>
<year>2026</year>
</pub-date>
<volume>XI-2-2026</volume>
<fpage>647</fpage>
<lpage>656</lpage>
<permissions>
<copyright-statement>Copyright: &#x000a9; 2026 Dennis Haitz et al.</copyright-statement>
<copyright-year>2026</copyright-year>
<license license-type="open-access">
<license-p>This work is licensed under the Creative Commons Attribution 4.0 International License. To view a copy of this licence, visit <ext-link ext-link-type="uri"  xlink:href="https://creativecommons.org/licenses/by/4.0/">https://creativecommons.org/licenses/by/4.0/</ext-link></license-p>
</license>
</permissions>
<self-uri xlink:href="https://isprs-annals.copernicus.org/articles/XI-2-2026/647/2026/isprs-annals-XI-2-2026-647-2026.html">This article is available from https://isprs-annals.copernicus.org/articles/XI-2-2026/647/2026/isprs-annals-XI-2-2026-647-2026.html</self-uri>
<self-uri xlink:href="https://isprs-annals.copernicus.org/articles/XI-2-2026/647/2026/isprs-annals-XI-2-2026-647-2026.pdf">The full text article is available as a PDF file from https://isprs-annals.copernicus.org/articles/XI-2-2026/647/2026/isprs-annals-XI-2-2026-647-2026.pdf</self-uri>
<abstract>
<p>Visual Place Recognition (VPR) is a core component in computer vision, typically formulated as an image retrieval task for localization, mapping, and navigation. In this work, we instead study VPR as an &lt;em&gt;image pair retrieval&lt;/em&gt; front-end for registration pipelines, where the goal is to find top-matching image pairs between two disjoint image sets for downstream tasks such as scene registration, SLAM, and Structure-from-Motion. We comparatively evaluate state-of-the-art VPR families - NetVLAD-style baselines, classification-based global descriptors (CosPlace, EigenPlaces), feature-mixing (MixVPR), and foundation-model-driven methods (AnyLoc, SALAD, MegaLoc) - on three challenging datasets: object-centric outdoor scenes (Tanks and Temples), indoor RGB-D scans (ScanNet-GS), and autonomous-driving sequences (KITTI). We show that modern global descriptor approaches are increasingly suitable as off-the-shelf image pair retrieval modules in challenging scenarios including perceptual aliasing and incomplete sequences, while exhibiting clear, domain-dependent strengths and weaknesses that are critical when choosing VPR components for robust mapping and registration.</p>
</abstract>
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