YILDIZ-VPR: A Novel Dataset with Dense Coverage Under Diverse Environmental Conditions for Visual Place Recognition
arXiv:2608.17033v1 Announce Type: new Abstract: Visual Place Recognition (VPR) aims to recognize the location of a query image by comparing it with a set of geo-referenced images. Although many datasets have been proposed for VPR, collecting dense and diverse visual data from pedestrian-level viewpoints is still an important need. In this paper, we introduce YILDIZ-VPR, a visual geo-localization dataset collected through repeated walking traversals on the Davutpasa campus of Yildiz Technical University. The dataset includes outdoor scenes captured at different times of day, seasons, and weather conditions. It contains a wide range of visual content, including historical buildings, modern structures, roads, green areas, and wooded regions. Each video was recorded with a GoPro 9 camera and synchronized with GPS sensor data to provide location labels for the extracted frames. In addition to GPS coordinates, the dataset also includes auxiliary sensor information such as gyroscope, speed, and temperature data. With its dense coverage and long-term visual variability, YILDIZ-VPR provides a useful resource for studying image-based and temporal visual place recognition under realistic outdoor conditions.
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[Submitted on 17 Aug 2026]
Title:YILDIZ-VPR: A Novel Dataset with Dense Coverage Under Diverse Environmental Conditions for Visual Place Recognition
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Abstract:Visual Place Recognition (VPR) aims to recognize the location of a query image by comparing it with a set of geo-referenced images. Although many datasets have been proposed for VPR, collecting dense and diverse visual data from pedestrian-level viewpoints is still an important need. In this paper, we introduce YILDIZ-VPR, a visual geo-localization dataset collected through repeated walking traversals on the Davutpasa campus of Yildiz Technical University. The dataset includes outdoor scenes captured at different times of day, seasons, and weather conditions. It contains a wide range of visual content, including historical buildings, modern structures, roads, green areas, and wooded regions. Each video was recorded with a GoPro 9 camera and synchronized with GPS sensor data to provide location labels for the extracted frames. In addition to GPS coordinates, the dataset also includes auxiliary sensor information such as gyroscope, speed, and temperature data. With its dense coverage and long-term visual variability, YILDIZ-VPR provides a useful resource for studying image-based and temporal visual place recognition under realistic outdoor conditions.
Subjects:
Computer Vision and Pattern Recognition (cs.CV); Artificial Intelligence (cs.AI)
Cite as: arXiv:2608.17033 [cs.CV]
(or arXiv:2608.17033v1 [cs.CV] for this version)
https://doi.org/10.48550/arXiv.2608.17033
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Serdar Yildiz [view email] [v1] Mon, 17 Aug 2026 18:30:23 UTC (5,044 KB)
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