针对视觉定位数据集,按地点而非图像剪枝,提升训练效率。
Selectivity Drives Efficiency: Dataset Pruning for Visual Place Recognition

- 以地点为单位剪枝,结合内部多样性与跨地点相似性评估
- 在3.5倍于GSV-Cities的数据量下,仍保持94.5%和97.0%的识别率
- 适合需要高效训练视觉定位模型的研究者使用
近期视觉定位(VPR)研究越来越依赖大规模数据集以训练更鲁棒、更具区分性的模型。尽管性能显著提升,但带来了巨大的存储与训练成本,尤其在频繁迭代新架构或训练策略时。数据集剪枝(DP)通过保留关键训练数据,有望提升数据效率。然而,传统方法多基于样本级分类范式,忽略了VPR中监督信号通常由图像对构成的关联特性。为此,本文提出一种面向VPR的地点级剪枝框架,将每个地点作为基本剪枝单元,引入两个互补的新度量:地点内多样性(IPD)与地点间相似性(IPS),用于评估每个地点的训练价值。联合考虑两者,对所有地点排序并构建紧凑且信息丰富的子集(coreset),使剪枝后的数据仍可支持鲁棒、区分性强的VPR模型训练。大量实验表明,该方法在不同剪枝比例下均优于当前最优基线,同时降低选择与训练开销。此外,将约3.5倍于GSV-Cities的合并数据集剪至相近规模后,其子集在MSLS-val上达94.5% R@1,Nordland上达97.0% R@1,仅用NetVLAD即可实现。代码将公开。
原文摘要 · Abstract (English)
Recent visual place recognition (VPR) studies have increasingly relied on large-scale datasets to train more robust and discriminative models. Although this trend significantly improves recognition performance, it also introduces substantial storage and training costs, especially when new architectures or training strategies need to be repeatedly developed and evaluated. Dataset pruning (DP) provides a promising way to improve data efficiency by retaining only informative training data. However, conventional DP methods mainly follow the sample-wise classification paradigm, which overlooks the relation-dependent training nature of VPR, where supervision is typically formed by image pairs rather than independent images. To address this issue, we propose a place-wise dataset pruning framework tailored for VPR. Instead of pruning individual images, our method treats each place as the basic pruning unit and introduces two complementary novel metrics, i.e., intra-place diversity (IPD) and inter-place similarity (IPS), to evaluate the training value of each place. By jointly considering these two metrics, our method ranks all places and constructs a compact yet informative coreset, thereby allowing the pruned dataset to still support the training of robust and discriminative VPR models. Extensive experiments demonstrate that our method consistently outperforms state-of-the-art DP baselines under different pruning ratios while reducing selection and training costs. Moreover, by pruning a merged dataset roughly 3.5$\times$ the size of GSV-Cities to a comparable scale, our coreset maintains highly competitive performance, achieving 94.5\% R@1 on MSLS-val and 97.0\% R@1 on Nordland with only NetVLAD. Codes will be made publicly available.
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