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arXiv 2605.20551cs.CVcs.AIcs.RO

更快或更强:通过加权聚合和标记剪枝实现灵活的视觉位置识别

Faster or Stronger: Towards Flexible Visual Place Recognition via Weighted Aggregation and Token Pruning

University College London(伦敦大学学院);Karlsruhe Institute of Technology(卡尔斯鲁厄大学);Hunan University(湖南大学);Shenzhen University(深圳大学)

Zichao Zeng, June Moh Goo, Junwei Zheng, Weijia Fan, Jiaming Zhang, Rainer Stiefelhagen, Jan Boehm

AI总结:

本文提出了一种加权聚合描述符(WeiAD)和标记剪枝框架(WeiToP),用于提升视觉位置识别的性能和效率,通过动态调整特征提取的精度与效率平衡。

摘要:

视觉位置识别(VPR)旨在将查询图像匹配到大规模数据库中相同地点的参考图像。最近最先进的方法采用视觉Transformer(ViTs)作为基础模型,提取对视角、光照和季节变化具有鲁棒性的补丁级特征,然后聚合为紧凑的全局描述符进行检索。大多数现有聚合方法将补丁标记均匀地池化到学习的簇中,尽管不同簇往往编码不同的空间或语义模式,并对VPR性能贡献不均。为了解决这一限制,我们提出了加权聚合描述符(WeiAD),在聚合过程中分配簇的权重,产生更具判别性的全局表示。除了准确性之外,检索延迟是大规模部署和资源受限边缘设备的关键关注点。先前的工作主要通过压缩全局描述符来减少延迟,而忽略了特征提取的成本,这在基于ViT的基础模型中变得更加严重。因此,我们引入了面向VPR的标记剪枝框架WeiToP,通过自蒸馏减少特征提取成本,其中聚合诱导的标记重要性监督一个轻量级剪枝模块,附加到早期Transformer层上,使推理时能够进行标记剪枝。在单次联合训练阶段后,WeiToP能够在推理时实现插拔式的标记剪枝,允许在不额外训练的情况下灵活地控制精度-效率权衡。此外,WeiToP在现有针对通用视觉任务的标记剪枝方法上表现更优。

英文摘要:

Visual Place Recognition (VPR) aims to match a query image to reference images of the same place in a large-scale database. Recent state-of-the-art methods employ Vision Transformers (ViTs) as backbone foundation models to extract patch-level features that are robust to viewpoint, illumination, and seasonal variations, which are then aggregated into a compact global descriptor for retrieval. Most existing aggregation methods uniformly pool patch tokens into learned clusters, despite the fact that different clusters often encode distinct spatial or semantic patterns and contribute unequally to VPR performance. To address this limitation, we propose Weighted Aggregated Descriptor (WeiAD), which assigns weights to clusters during aggregation, producing more discriminative global representations. Beyond accuracy, retrieval latency is a critical concern for large-scale deployments and resource-constrained edge devices. Prior work mainly reduces latency by compressing global descriptors, while overlooking the cost of feature extraction, an issue exacerbated by ViT-based backbones. We therefore introduce WeiToP, a VPR-oriented token pruning framework that reduces feature extraction cost via self-distillation, where aggregation-induced token importance supervises a lightweight pruning module attached to an early transformer layer, enabling inference-time token pruning. After a single joint training phase, WeiToP enables plug-and-play token pruning at inference time, allowing flexible and on-demand control over the accuracy-efficiency trade-off without additional training. Moreover, WeiToP outperforms existing token pruning methods adapted from general vision tasks.

机构、总结、中文摘要均由AI分析而来,可能存在错误,请以论文正文为准。

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