TAT-VPR: Ternary Adaptive Transformer for Dynamic and Efficient Visual Place Recognition

원문 초록

TAT-VPR is a ternary-quantized transformer that brings dynamic accuracy-efficiency trade-offs to visual SLAM loop-closure. By fusing ternary weights with a learned activation-sparsity gate, the model can control computation by up to 40% at run-time without degrading performance (Recall@1). The proposed two-stage distillation pipeline preserves descriptor quality, letting it run on micro-UAV and embedded SLAM stacks while matching state-of-the-art localization accuracy.