# Uncertainty-Aware DNN for Multi-Modal Camera Localization

arXiv: https://arxiv.org/abs/2211.01234 · HTML: https://mlsanity.com/paper/2211.01234/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 28 of its 36 references that are in the map.
- First posted on arXiv 2 Nov 2022.

## Builds on (most cited first, 28 of 28)

- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)
- [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)
- [Fast R-CNN](https://mlsanity.com/paper/1504.08083/) (2015)
- [What Uncertainties Do We Need in Bayesian Deep Learning for Computer Vision?](https://mlsanity.com/paper/1703.04977/) (2017)
- [Multi-Task Learning Using Uncertainty to Weigh Losses for Scene Geometry and Semantics](https://mlsanity.com/paper/1705.07115/) (2017)
- [NetVLAD: CNN architecture for weakly supervised place recognition](https://mlsanity.com/paper/1511.07247/) (2015)
- [Evidential Deep Learning to Quantify Classification Uncertainty](https://mlsanity.com/paper/1806.01768/) (2018)
- [KITTI-360: A Novel Dataset and Benchmarks for Urban Scene Understanding in 2D and 3D](https://mlsanity.com/paper/2109.13410/) (2021)
- [Variational Dropout and the Local Reparameterization Trick](https://mlsanity.com/paper/1506.02557/) (2015)
- [Deep Ensembles: A Loss Landscape Perspective](https://mlsanity.com/paper/1912.02757/) (2019)
- [Accurate Uncertainties for Deep Learning Using Calibrated Regression](https://mlsanity.com/paper/1807.00263/) (2018)
- [Deep Evidential Regression](https://mlsanity.com/paper/1910.02600/) (2019)
- [GeoNet: Unsupervised Learning of Dense Depth, Optical Flow and Camera Pose](https://mlsanity.com/paper/1803.02276/) (2018)
- [Patch-NetVLAD: Multi-Scale Fusion of Locally-Global Descriptors for Place Recognition](https://mlsanity.com/paper/2103.01486/) (2021)
- [Geometric Loss Functions for Camera Pose Regression with Deep Learning](https://mlsanity.com/paper/1704.00390/) (2017)
- [Back to the Feature: Learning Robust Camera Localization from Pixels to Pose](https://mlsanity.com/paper/2103.09213/) (2021)
- [Modelling Uncertainty in Deep Learning for Camera Relocalization](https://mlsanity.com/paper/1509.05909/) (2015)
- [RegNet: Multimodal Sensor Registration Using Deep Neural Networks](https://mlsanity.com/paper/1707.03167/) (2017)
- [2D3D-MatchNet: Learning to Match Keypoints Across 2D Image and 3D Point Cloud](https://mlsanity.com/paper/1904.09742/) (2019)
- [VLocNet++: Deep Multitask Learning for Semantic Visual Localization and Odometry](https://mlsanity.com/paper/1804.08366/) (2018)
- [Deep Bingham Networks: Dealing with Uncertainty and Ambiguity in Pose Estimation](https://mlsanity.com/paper/2012.11002/) (2020)
- [Global visual localization in LiDAR-maps through shared 2D-3D embedding space](https://mlsanity.com/paper/1910.04871/) (2019)
- [CMRNet: Camera to LiDAR-Map Registration](https://mlsanity.com/paper/1906.10109/) (2019)
- [Multivariate Deep Evidential Regression](https://mlsanity.com/paper/2104.06135/) (2021)
- [Attention-based Pyramid Aggregation Network for Visual Place Recognition](https://mlsanity.com/paper/1808.00288/) (2018)
- [Robust Monocular Localization in Sparse HD Maps Leveraging Multi-Task Uncertainty Estimation](https://mlsanity.com/paper/2110.10563/) (2021)
- [Probabilistic Regression of Rotations using Quaternion Averaging and a Deep Multi-Headed Network](https://mlsanity.com/paper/1904.03182/) (2019)

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

- [MambaLoc: Efficient Camera Localisation via State Space Model](https://mlsanity.com/paper/2408.09680/) (2024)

## Abstract (arXiv)

Camera localization, i.e., camera pose regression, represents an important task in computer vision since it has many practical applications such as in the context of intelligent vehicles and their localization. Having reliable estimates of the regression uncertainties is also important, as it would allow us to catch dangerous localization failures. In the literature, uncertainty estimation in Deep Neural Networks (DNNs) is often performed through sampling methods, such as Monte Carlo Dropout (MCD) and Deep Ensemble (DE), at the expense of undesirable execution time or an increase in hardware resources. In this work, we considered an uncertainty estimation approach named Deep Evidential Regression (DER) that avoids any sampling technique, providing direct uncertainty estimates. Our goal is to provide a systematic approach to intercept localization failures of camera localization systems based on DNNs architectures, by analyzing the generated uncertainties. We propose to exploit CMRNet, a DNN approach for multi-modal image to LiDAR map registration, by modifying its internal configuration to allow for extensive experimental activity on the KITTI dataset. The experimental section highlights CMRNet's major flaws and proves that our proposal does not compromise the original localization performances but also provides, at the same time, the necessary introspection measures that would allow end-users to act accordingly.