{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/jist-joint-image-and-sequence-training-for","title":"JIST: Joint Image and Sequence Training for Sequential Visual Place Recognition","arxiv_id":"2403.19787","date":"2024-03-28","proceeding":null,"authors":["Gabriele Berton","Gabriele Trivigno","Barbara Caputo","Carlo Masone"],"abstract":"Visual Place Recognition aims at recognizing previously visited places by relying on visual clues, and it is used in robotics applications for SLAM and localization. Since typically a mobile robot has access to a continuous stream of frames, this task is naturally cast as a sequence-to-sequence localization problem. Nevertheless, obtaining sequences of labelled data is much more expensive than collecting isolated images, which can be done in an automated way with little supervision. As a mitigation to this problem, we propose a novel Joint Image and Sequence Training protocol (JIST) that leverages large uncurated sets of images through a multi-task learning framework. With JIST we also introduce SeqGeM, an aggregation layer that revisits the popular GeM pooling to produce a single robust and compact embedding from a sequence of single-frame embeddings. We show that our model is able to outperform previous state of the art while being faster, using 8 times smaller descriptors, having a lighter architecture and allowing to process sequences of various lengths. Code is available at https://github.com/ga1i13o/JIST","url_abs":"https://arxiv.org/abs/2403.19787v1","url_pdf":"https://arxiv.org/pdf/2403.19787v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"jist-joint-image-and-sequence-training-for","repo_url":"https://github.com/ga1i13o/jist","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"multi-task-learning","task_name":"Multi-Task Learning"},{"task_slug":"visual-place-recognition","task_name":"Visual Place Recognition"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}