# Appearance-Invariant 6-DoF Visual Localization using Generative Adversarial Networks

arXiv: https://arxiv.org/abs/2012.13191 · HTML: https://mlsanity.com/paper/2012.13191/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 24 Dec 2020.

## Built on by (most cited first, 1 of 1)

- [VISTA: Monocular Segmentation-Based Mapping for Appearance and View-Invariant Global Localization](https://mlsanity.com/paper/2507.11653/) (2025)

## Abstract (arXiv)

We propose a novel visual localization network when outside environment has changed such as different illumination, weather and season. The visual localization network is composed of a feature extraction network and pose regression network. The feature extraction network is made up of an encoder network based on the Generative Adversarial Network CycleGAN, which can capture intrinsic appearance-invariant feature maps from unpaired samples of different weathers and seasons. With such an invariant feature, we use a 6-DoF pose regression network to tackle long-term visual localization in the presence of outdoor illumination, weather and season changes. A variety of challenging datasets for place recognition and localization are used to prove our visual localization network, and the results show that our method outperforms state-of-the-art methods in the scenarios with various environment changes.