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DINOv2 SALAD

Optimal Transport Aggregation for Visual Place Recognition

Sergio Izquierdo, Javier Civera

Code and models for Optimal Transport Aggregation for Visual Place Recognition (DINOv2 SALAD).

Summary

We introduce DINOv2 SALAD, a Visual Place Recognition model that achieves state-of-the-art results on common benchmarks. We introduce two main contributions:

Using a finetuned DINOv2 encoder to get richer and more powerful features.
A new aggregation technique based on optimal transport to create a global descriptor based on optimal transport. This aggregation extends NetVLAD to consider feature-to-cluster relations as well as cluster-to-features. Besides, it includes a dustbin to discard uninformative features.

For more details, check the paper at arXiv.

Method

Setup

It has been tested on Pytorch 2.1.0 with CUDA 12.1 and Xformers. Create a ready to run environment with:

conda env create -f environment.yml

To quickly test and use our model, you can use Torch Hub:

import torch
model = torch.hub.load("serizba/salad", "dinov2_salad")
model.eval()
model.cuda()

Dataset

For training, download GSV-Cities dataset. For evaluation download the desired datasets (MSLS, NordLand, SPED, or Pittsburgh)

Train

Training is done on GSV-Cities for 4 complete epochs. It requires around 30 minutes on an NVIDIA RTX 3090. For training DINOv2 SALAD run:

python3 main.py

After training, logs and checkpoints should be on the logs dir.

Evaluation

You can download a pretrained DINOv2 SALAD model from here. For evaluating run:

python3 eval.py --ckpt_path 'weights/dino_salad.ckpt' --image_size 322 322 --batch_size 256 --val_datasets MSLS Nordland

<table> <thead> <tr> <th colspan="3">MSLS Challenge</th> <th colspan="3">MSLS Val</th> <th colspan="3">NordLand</th> </tr> <tr> <th>R@1</th> <th>R@5</th> <th>R@10</th> <th>R@1</th> <th>R@5</th> <th>R@10</th> <th>R@1</th> <th>R@5</th> <th>R@10</th> </tr> </thead> <tbody> <tr> <td>75.0</td> <td>88.8</td> <td>91.3</td> <td>92.2</td> <td>96.4</td> <td>97.0</td> <td>76.0</td> <td>89.2</td> <td>92.0</td> </tr> </tbody> </table>

Acknowledgements

This code is based on the amazing work of:

Cite

Here is the bibtex to cite our paper

@InProceedings{Izquierdo_CVPR_2024_SALAD,
    author    = {Izquierdo, Sergio and Civera, Javier},
    title     = {Optimal Transport Aggregation for Visual Place Recognition},
    booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
    month     = {June},
    year      = {2024},
}