# FlatVPR: A plug-and-play geometric linear residual adapter for geometric rectification of foundation model feature manifolds

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/v9a0iuhlf35kr5an2jv1c185f
- Original: https://arxiv.org/abs/2606.01734

## Summary

FlatVPR proposes a plug-and-play geometric linear residual adapter that applies a residual transformation to features from foundation models such as DINOv2-ViT-S/14 and uses a Pullback Flatness Loss to reduce manifold curvature, so that descriptors between adjacent anchors can be reconstructed by linear interpolation. On the NCLT dataset, the adapter still delivers clear performance gains even when anchor spacing reaches 100 m and severe seasonal changes are present. Map construction is incorporated into an EM framework, split into a continuous M-step for manifold adaptation and an E-step for the anchor selection criterion.