Distributed training of CosPlace for large-scale visual place recognition.

Visual place recognition (VPR) is a popular computer vision task aimed at recognizing the geographic location of a visual query, usually within a tolerance of a few meters. Modern approaches address VPR from an image retrieval standpoint using a kNN on top of embeddings extracted by a deep neural network from both the query and images in a database. Although most of these approaches rely on contrastive learning, which limits their ability to be trained on large-scale datasets (due to mining), the recently reported CosPlace proposes an alternative training paradigm using a classification task as the proxy. This has been shown to be effective in expanding the potential of VPR models to learn from large-scale and fine-grained datasets. In this work, we experimentally analyze CosPlace from a continual learning perspective and show that its sequential training procedure leads to suboptimal results. As a solution, we propose a different formulation that not only solves the pitfalls of the original training strategy effectively but also enables faster and more efficient distributed training. Finally, we discuss the open challenges in further speeding up large-scale image retrieval for VPR.