Kenta Tsukahara, Kanji Tanaka, Rai Hisadacs.RO cs.CV
Visual Place Recognition (VPR) in lifelong deployment requires continuous adaptation to new environments without catastrophic forgetting. In this paper, we propose SLAM, a Structured and Localized Analytic Manifold adaptation framework. Our framework elegantly unifies uncertainty-aware smoothing via Unscented transformation, topological space partitioning through a Gaussian Mixture Model (GMM), and $H_\infty$ robust bound optimization into a singular, unified closed-form analytical recursion. Exhaustive ablation studies demonstrate that while the synergistic combination of uncertainty smoothing and localized mapping (U+G configuration) achieves the state-of-the-art nominal accuracy of 27.5%, the full deployment of the $H_\infty$ bound does not require an architectural split; rather, it introduces a mathematically guaranteed minimax robust bound. This formulation enables the system to seamlessly modulate the intrinsic trade-off between nominal placement precision and worst-case disturbance attenuation through a single regularization parameter.
Visual perception of urban streetscapes underpins evidence-based decisions in landscape planning, public health, and place-making. Yet models trained on a few well-photographed metropolises systematically misjudge underrepresented districts, propagating geographic bias into downstream policy. We address this gap with HVSP-LL, a lifelong learning framework that couples a stratified visual-semantic pivoting module with an equity-aware rehearsal mechanism. The pivoting module organises landscape concepts along a three-tier ontology (macro structure, meso composition, micro element) and aligns image features to learnable semantic anchors at each tier, providing transferable representations that resist distributional drift. The lifelong adaptation component sequentially absorbs new urban regions while constraining inter-region perception gaps through a worst-region sample-reweighting objective and a structurally-aware exemplar buffer. We evaluate HVSP-LL on a panoramic streetscape benchmark assembled from twelve cities across four continents and seven perceptual dimensions. The framework attains 0.834 Spearman correlation on the held-out city sequence, an absolute 6.1 point improvement over the strongest continual baseline, and shrinks the inter-city perception gap to 0.094 -- a 38% reduction relative to the strongest continual baseline (0.151) and a 57% reduction relative to a representative regularisation baseline (0.218). Ablations confirm that each tier of the pivoting hierarchy contributes monotonically, and the equity-aware rehearsal converts mean backward transfer from -0.038 (without retention) to +0.013, eliminating catastrophic forgetting on the held-out sequence. Our results indicate that hierarchical anchoring is a practical pathway toward geographically equitable streetscape inference at city scale.
Lifelong person re-identification (LReID) aims to train a generalizable model with sequentially collected data. However, such models often suffer from semantic drift, limited adaptability, and catastrophic forgetting as new domains emerge. Existing exemplar-free approaches largely rely on visual-only distillation or parameter regularization, while overlooking the potential of auxiliary modalities, such as text, to preserve semantic stability and enable incremental plasticity. We observe that the frozen text encoder in pretrained vision-language models can serve as a stable semantic anchor across domains. To decouple the roles of vision and text, we propose Prompt-Anchored vision-text Distillation (PAD), an asymmetric vision-text framework for semantic alignment and cross-domain generalization. On the textual side, we distill prompts to preserve vision-text alignment under a fixed semantic space, acting as a global semantic reference rather than a dominant learning signal. On the visual side, an EMA-based teacher with an adaptive prompt pool enables domain-wise adaptation by allocating new slots while freezing past ones. Extensive experiments show that PAD substantially outperforms state-of-the-art methods across seen and unseen domains, achieving a strong balance between stability and plasticity. Project page is available at https://github.com/zu-zi/PAD.