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arXiv AI By Walter Nedov, Saimunur Rahman, Kavindie Katuwandeniya, David Hall, Kaushik Roy, Peyman Moghadam

Geometry-Conditioned Visual Place Recognition in Natural Environments

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The paper introduces Depth‑Aware Distillation (DAD), a method that conditions a pretrained Vision Foundation Model’s token representations on geometry inferred by a Geometric Foundation Model, without using a depth sensor. DAD projects image‑aligned depth into the VFM token space and selectively modulates visual representations through channel‑wise geometric conditioning. On the WildCross benchmark, DAD raises average inter‑sequence Recall@1 from 61.41% to 66.37% and Recall@5 from 65.86% to 72.49%, especially improving performance under reverse traversal and long‑term appearance variation.

Machine-generated by The Flow from the publisher's headline and feed description — not written or checked by a human. The full article lives at arXiv AI.

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