MMS-VPR: A Fine-Grained Multimodal Street-Level Visual Place Recognition Dataset and Evaluation Benchmark for Dense Pedestrian Environments

Existing visual place recognition (VPR) datasets predominantly rely on vehicle-mounted imagery, offer limited multimodal diversity, and underrepresent dense pedestrian street scenes, particularly in non-Western urban contexts. We present MMS-VPR, a challenging fine-grained multimodal benchmark for p