In this paper we present a novel place recognition method. Instead of directly using large
numbers of SIFT features as visual landmarks, we first use a jigsaw puzzle image
segmentation algorithm to segment the input scene image into regions that may correspond
to objects or parts of objects. Based on these image regions, we further detect a set of salient
objects to represent a place and only those SIFT descriptors that were contained in these
salient objects were kept in the database. We also designed a range-tree data structure to …