I. Introduction
Vpr serves as a critical component in the realm of mobile robots, with its main objective being to provide previously encountered locations within a visual navigation system. While VPR has been extensively investigated in computer vision, severe appearance changes are still a substantial challenge when transitioning to the robust real world. Presently, there exist two categories of solutions: (i) Global Retrieval (e.g., GeM [1], NetVLAD [2], CosPlace [3], et al.) is a predominant solution, which is efficient but falls short in terms of accuracy for this challenge. (ii) Global Retrieval + Reranking (e.g., DELG [4], Patch-NetVLAD [5], TransVPR [6], et al.) is an optimal solution for severe appearance changes, demonstrating high performance yet encountering issues with high training costs and inefficiency.