I. INTRODUCTION
A. Background
B. Summary of Previous Surveys
C. Contributions and Paper Organization

II. CHALLENGES
A. Definition: What is Place Recognition?
B. Challenges

III. DESCRIBING PLACES: DATA REPRESENTATION
A. Low-Level Representations
B. High-Level Representations in Various Formats
C. Summary

IV. RECOGNIZING THE RIGHT PLACE AGAINST CHALLENGES
A. Appearance Change
B. Viewpoint Difference
C. Generalization Ability
D. Efficiency
E. Uncertainty Estimation

V. APPLICATION & TRENDS
A. Long-Term & Large-Scale Navigation
B. Visual Terrain Relative Navigation
C. Multi-Agent Localization and Mapping
D. Bio-Inspired and Lifelong Autonomy

VI. DATASETS & EVALUATION
A. Public Datasets
B. New Perspective of Evaluation
C. Supported Libraries

VII. CONCLUSION