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Repeated structures such as building facades, fences or road markings often represent a significant challenge for place recognition. Repeated structures are notoriously hard for establishing correspondences using multi-view geometry. They violate the feature independence assumed in the bag-of-visual-words representation which often leads to over-counting evidence and significant degradation of retrieval performance. In this work we show that repeated structures are not a nuisance but, whendoi:10.1109/tpami.2015.2409868 pmid:26440272 fatcat:kqh7wpcc2be4hb6wsej2yy57we