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Calibrating Retrieval Geometry: Reliability-Guided Training-Free Aggregation for Visual Place Recognition

arXiv · AI, language, vision and robotics · article · Sep 22, 2026 · UTC

Frozen visual foundation models provide transferable features for visual place recognition, but fixed aggregation can suppress useful distinctions in new environments. We introduce TFA, a reliability-guided, training-free aggregation method requiring neither place labels nor task-specific weight updates. Our key observation is that reproducible retrieval need not be discriminative: independent codebooks can consistently retrieve a few database hubs. TFA combines cross-codebook agreement, retrieval coverage, and spectral statistics to control residual assignment, spectral shaping, and global-fe

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