FoL Visual Place Recognition

Upload a query image and a database image to visualize FoL reliable discriminative regions, local correspondences, and geometrically verified matches.

Query Image

Database Image

Matching Parameters

Local Similarity Threshold

Lower values retain more local correspondences; higher values apply stricter filtering.

0.95 1

Enable Geometric Verification (RANSAC)

RANSAC Reprojection Threshold

Maximum reprojection error in pixels. Lower values apply stricter geometric filtering; higher values tolerate larger localization errors.

0.5 10

Example Image Pair

Reliable Regions

Local Matching Results

Reliable Regions

Local Matches

Geometrically Verified Matches

Numerical Metrics

Global Cosine Similarity

Local Match Count

RANSAC Inlier Count

FoL Visual Place Recognition

Matching Parameters

Reliable Regions

Local Matching Results

Numerical Metrics

Verification Status