Changing environment 2 Contrastive learning 2 Convolutional neural network 2 Horizontal displacements 2 Image representation 2 Image representations 2 Images registration 2 Long-term autonomy 2 Machine learning 2 Metric maps 2 Mobile robots 2 Navigation 2 Seasonal changes 2 Visual teach and repeat navigation 2 contrastive learning 2 image representations 2 long-term autonomy 2 machine learning 2 visual teach and repeat navigation 2