用高维签名融合多条件图像，实现高效精准的视觉定位

Visual Place Recognition (VPR) enables coarse localization by comparing query images to a reference database of geo-tagged images. Recent breakthroughs in deep learning architectures and training regimes have led to methods with improved robustness to factors like environment appearance change, but with the downside that the required training and/or matching compute scales with the number of distinct environmental conditions encountered. Here, we propose Hyperdimensional One Place Signatures (HOPS) to simultaneously improve the performance, compute and scalability of these state-of-the-art approaches by fusing the descriptors from multiple reference sets captured under different conditions. HOPS scales to any number of environmental conditions by leveraging the Hyperdimensional Computing framework. Extensive evaluations demonstrate that our approach is highly generalizable and consistently improves recall performance across all evaluated VPR methods and datasets by large margins. Arbitrarily fusing reference images without compute penalty enables numerous other useful possibilities, three of which we demonstrate here: descriptor dimensionality reduction with no performance penalty, stacking synthetic images, and coarse localization to an entire traverse or environmental section.