# CoordiNet: uncertainty-aware pose regressor for reliable vehicle localization

arXiv: https://arxiv.org/abs/2103.10796 · HTML: https://mlsanity.com/paper/2103.10796/

## Key facts

- Cited by 34 papers in the map (data through 14 Oct 2026).
- Builds on 22 of its 35 references that are in the map.
- First posted on arXiv 19 Mar 2021.

## Builds on (most cited first, 22 of 22)

- [Dropout as a Bayesian Approximation: Representing Model Uncertainty in Deep Learning](https://mlsanity.com/paper/1506.02142/) (2015)
- [Simple and Scalable Predictive Uncertainty Estimation using Deep Ensembles](https://mlsanity.com/paper/1612.01474/) (2016)
- [What Uncertainties Do We Need in Bayesian Deep Learning for Computer Vision?](https://mlsanity.com/paper/1703.04977/) (2017)
- [On the Continuity of Rotation Representations in Neural Networks](https://mlsanity.com/paper/1812.07035/) (2018)
- [From Coarse to Fine: Robust Hierarchical Localization at Large Scale](https://mlsanity.com/paper/1812.03506/) (2018)
- [An Intriguing Failing of Convolutional Neural Networks and the CoordConv Solution](https://mlsanity.com/paper/1807.03247/) (2018)
- [Geometric Loss Functions for Camera Pose Regression with Deep Learning](https://mlsanity.com/paper/1704.00390/) (2017)
- [Understanding the Limitations of CNN-based Absolute Camera Pose Regression](https://mlsanity.com/paper/1903.07504/) (2019)
- [Geometry-Aware Learning of Maps for Camera Localization](https://mlsanity.com/paper/1712.03342/) (2017)
- [Learning Less is More - 6D Camera Localization via 3D Surface Regression](https://mlsanity.com/paper/1711.10228/) (2017)
- [Image-based localization using LSTMs for structured feature correlation](https://mlsanity.com/paper/1611.07890/) (2016)
- [Modelling Uncertainty in Deep Learning for Camera Relocalization](https://mlsanity.com/paper/1509.05909/) (2015)
- [AtLoc: Attention Guided Camera Localization](https://mlsanity.com/paper/1909.03557/) (2019)
- [Expert Sample Consensus Applied to Camera Re-Localization](https://mlsanity.com/paper/1908.02484/) (2019)
- [Image-based Localization using Hourglass Networks](https://mlsanity.com/paper/1703.07971/) (2017)
- [VLocNet++: Deep Multitask Learning for Semantic Visual Localization and Odometry](https://mlsanity.com/paper/1804.08366/) (2018)
- [Deep Auxiliary Learning for Visual Localization and Odometry](https://mlsanity.com/paper/1803.03642/) (2018)
- [VidLoc: A Deep Spatio-Temporal Model for 6-DoF Video-Clip Relocalization](https://mlsanity.com/paper/1702.06521/) (2017)
- [KFNet: Learning Temporal Camera Relocalization using Kalman Filtering](https://mlsanity.com/paper/2003.10629/) (2020)
- [Multivariate Uncertainty in Deep Learning](https://mlsanity.com/paper/1910.14215/) (2019)
- [Probabilistic Regression of Rotations using Quaternion Averaging and a Deep Multi-Headed Network](https://mlsanity.com/paper/1904.03182/) (2019)
- [Collaborative Augmented Reality on Smartphones via Life-long City-scale Maps](https://mlsanity.com/paper/2011.05370/) (2020)

## Built on by (most cited first, 30 of 34)

- [LENS: Localization enhanced by NeRF synthesis](https://mlsanity.com/paper/2110.06558/) (2021)
- [DFNet: Enhance Absolute Pose Regression with Direct Feature Matching](https://mlsanity.com/paper/2204.00559/) (2022)
- [CROSSFIRE: Camera Relocalization On Self-Supervised Features from an Implicit Representation](https://mlsanity.com/paper/2303.04869/) (2023)
- [Map-Relative Pose Regression for Visual Re-Localization](https://mlsanity.com/paper/2404.09884/) (2024)
- [Neural Refinement for Absolute Pose Regression with Feature Synthesis](https://mlsanity.com/paper/2303.10087/) (2023)
- [360Loc: A Dataset and Benchmark for Omnidirectional Visual Localization with Cross-device Queries](https://mlsanity.com/paper/2311.17389/) (2023)
- [PNeRFLoc: Visual Localization with Point-based Neural Radiance Fields](https://mlsanity.com/paper/2312.10649/) (2023)
- [RobustLoc: Robust Camera Pose Regression in Challenging Driving Environments](https://mlsanity.com/paper/2211.11238/) (2022)
- [HR-APR: APR-agnostic Framework with Uncertainty Estimation and Hierarchical Refinement for Camera Relocalisation](https://mlsanity.com/paper/2402.14371/) (2024)
- [On the Estimation of Image-matching Uncertainty in Visual Place Recognition](https://mlsanity.com/paper/2404.00546/) (2024)
- [From Sparse to Dense: Camera Relocalization with Scene-Specific Detector from Feature Gaussian Splatting](https://mlsanity.com/paper/2503.19358/) (2025)
- [Uncertainty estimation for Cross-dataset performance in Trajectory prediction](https://mlsanity.com/paper/2205.07310/) (2022)
- [A Probabilistic Framework for Visual Localization in Ambiguous Scenes](https://mlsanity.com/paper/2301.02086/) (2023)
- [Scene-agnostic Pose Regression for Visual Localization](https://mlsanity.com/paper/2503.19543/) (2025)
- [Autoencoder-based background reconstruction and foreground segmentation with background noise estimation](https://mlsanity.com/paper/2112.08001/) (2021)
- [Adversarial Exploitation of Data Diversity Improves Visual Localization](https://mlsanity.com/paper/2412.00138/) (2024)
- [ImPosing: Implicit Pose Encoding for Efficient Visual Localization](https://mlsanity.com/paper/2205.02638/) (2022)
- [Benchmarking Visual-Inertial Deep Multimodal Fusion for Relative Pose Regression and Odometry-aided Absolute Pose Regression](https://mlsanity.com/paper/2208.00919/) (2022)
- [AIR-HLoc: Adaptive Retrieved Images Selection for Efficient Visual Localisation](https://mlsanity.com/paper/2403.18281/) (2024)
- [Conditional Variational Autoencoders for Probabilistic Pose Regression](https://mlsanity.com/paper/2410.04989/) (2024)
- [MobileARLoc: On-device Robust Absolute Localisation for Pervasive Markerless Mobile AR](https://mlsanity.com/paper/2401.11511/) (2024)
- [Compact Object-Level Representations with Open-Vocabulary Understanding for Indoor Visual Relocalization](https://mlsanity.com/paper/2606.24767/) (2026)
- [Robust Localization with Visual-Inertial Odometry Constraints for Markerless Mobile AR](https://mlsanity.com/paper/2308.05394/) (2023)
- [KS-APR: Keyframe Selection for Robust Absolute Pose Regression](https://mlsanity.com/paper/2308.05459/) (2023)
- [Implicit Learning of Scene Geometry from Poses for Global Localization](https://mlsanity.com/paper/2312.02029/) (2023)
- [PoseINN: Realtime Visual-based Pose Regression and Localization with Invertible Neural Networks](https://mlsanity.com/paper/2404.13288/) (2024)
- [Uncertainty Aware Human-machine Collaboration in Camouflaged Object Detection](https://mlsanity.com/paper/2502.08373/) (2025)
- [Quantifying Epistemic Uncertainty in Absolute Pose Regression](https://mlsanity.com/paper/2504.07260/) (2025)
- [APR-Transformer: Initial Pose Estimation for Localization in Complex Environments through Absolute Pose Regression](https://mlsanity.com/paper/2505.09356/) (2025)
- [Aleatoric Uncertainty from AI-based 6D Object Pose Predictors for Object-relative State Estimation](https://mlsanity.com/paper/2509.01583/) (2025)

## Abstract (arXiv)

In this paper, we investigate visual-based camera re-localization with neural networks for robotics and autonomous vehicles applications. Our solution is a CNN-based algorithm which predicts camera pose (3D translation and 3D rotation) directly from a single image. It also provides an uncertainty estimate of the pose. Pose and uncertainty are learned together with a single loss function and are fused at test time with an EKF. Furthermore, we propose a new fully convolutional architecture, named CoordiNet, designed to embed some of the scene geometry. Our framework outperforms comparable methods on the largest available benchmark, the Oxford RobotCar dataset, with an average error of 8 meters where previous best was 19 meters. We have also investigated the performance of our method on large scenes for real time (18 fps) vehicle localization. In this setup, structure-based methods require a large database, and we show that our proposal is a reliable alternative, achieving 29cm median error in a 1.9km loop in a busy urban area