EigenPlaces is a state-of-the-art visual place recognition (VPR) method that constructs training classes via SVD-based focal points, where a fixed focal distance D controls how far the focal point is placed from each cell center. However, this globally fixed D cannot adapt to the diverse scene geometries encountered across different urban environments. In this work, we systematically analyze the sensitivity of D across multiple benchmark datasets and reveal that the optimal D value is highly dataset-dependent, with performance gaps of up to 4.4 percentage points between the best and worst D choices. We then propose a depth-aware adaptive D strategy that leverages monocular depth estimation to compute per-cell focal distances, combined with quantile mapping to ensure sufficient variance in the assigned D values. By establishing a principled connection between visual sensor data and geometric training supervision, our method enhances the environmental perception reliability of intelligent sensing platforms. Experiments on three benchmarks (Pitts30k, AmsterTime, SF-XL) validate the dataset-dependent nature of D and confirm that our depth-aware approach achieves the best same-distribution performance among all tested configurations. We further conduct a multi-strategy ablation comparing depth raw, depth quantile, and SVD eigenvalue ratio approaches, providing practical guidance for adaptive focal distance selection in VPR training pipelines.
Jian et al. (Thu,) studied this question.