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Zaffar, M. (author), Nan, L. (author), Kooij, J.F.P. (author)Visual place recognition (VPR) is an image-based localization method that estimates the camera location of a query image by retrieving the most similar reference image from a map of geo-tagged reference images. In this work, we look into two fundamental bottlenecks for its localization accuracy: 1) reference map sparseness and 2) viewpoint...journal article 2023