mlsanityData to 7 Oct 2026

RobustLoc: Robust Camera Pose Regression in Challenging Driving Environments

arXiv 2211.11238 ↗First posted 21 Nov 2022cs.CVcited by 18

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Abstract (arXiv)

Camera relocalization has various applications in autonomous driving. Previous camera pose regression models consider only ideal scenarios where there is little environmental perturbation. To deal with challenging driving environments that may have changing seasons, weather, illumination, and the presence of unstable objects, we propose RobustLoc, which derives its robustness against perturbations from neural differential equations. Our model uses a convolutional neural network to extract feature maps from multi-view images, a robust neural differential equation diffusion block module to diffuse information interactively, and a branched pose decoder with multi-layer training to estimate the vehicle poses. Experiments demonstrate that RobustLoc surpasses current state-of-the-art camera pose regression models and achieves robust performance in various environments. Our code is released at: https://github.com/sijieaaa/RobustLoc

Key facts. Cited by 18 papers in the map (data through 7 Oct 2026). Builds on 20 of its 33 references that are in the map. First posted on arXiv 21 Nov 2022.

Builds on

20 of 33 references.

References · 20

  1. 2018Neural Ordinary Differential Equationscited by 3,733
  2. 2019SuperGlue: Learning Feature Matching with Graph Neural Networkscited by 1,437
  3. 2015NetVLAD: CNN architecture for weakly supervised place recognitioncited by 935
  4. 2018An Intriguing Failing of Convolutional Neural Networks and the CoordConv Solutioncited by 302
  5. 2021GRAND: Graph Neural Diffusioncited by 258
  6. 2017Geometric Loss Functions for Camera Pose Regression with Deep Learningcited by 224
  7. 2021Back to the Feature: Learning Robust Camera Localization from Pixels to Posecited by 199
  8. 2017Geometry-Aware Learning of Maps for Camera Localizationcited by 161
  9. 2016Image-based localization using LSTMs for structured feature correlationcited by 136
  10. 2019AtLoc: Attention Guided Camera Localizationcited by 92
  11. 2021Stable Neural ODE with Lyapunov-Stable Equilibrium Points for Defending Against Adversarial Attackscited by 91
  12. 2021Beltrami Flow and Neural Diffusion on Graphscited by 84
8 more
  1. 2019On Robustness of Neural Ordinary Differential Equationscited by 83
  2. 2021Channel-Wise Attention-Based Network for Self-Supervised Monocular Depth Estimationcited by 63
  3. 20204Seasons: A Cross-Season Dataset for Multi-Weather SLAM in Autonomous Drivingcited by 51
  4. 2021CoordiNet: uncertainty-aware pose regressor for reliable vehicle localizationcited by 34
  5. 2022On the Robustness of Graph Neural Diffusion to Topology Perturbationscited by 30
  6. 2019Local Supports Global: Deep Camera Relocalization with Sequence Enhancementcited by 25
  7. 2020PointLoc: Deep Pose Regressor for LiDAR Point Cloud Localizationcited by 25
  8. 2020Do We Really Need Scene-specific Pose Encoders?cited by 10

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 7; 2024: 6; 2025: 4; 2026: 1.

18 papers.

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  1. 2023Graph Neural Convection-Diffusion with Heterophilycited by 26
  2. 2025UAVScenes: A Multi-Modal Dataset for UAVscited by 26
  3. 2023HypLiLoc: Towards Effective LiDAR Pose Regression with Hyperbolic Fusioncited by 24
  4. 2023Adversarial Robustness in Graph Neural Networks: A Hamiltonian Approachcited by 24
  5. 2024Unleashing the Potential of Fractional Calculus in Graph Neural Networks with FRONDcited by 16
  6. 2023Node Embedding from Neural Hamiltonian Orbits in Graph Neural Networkscited by 12
  7. 2025LightLoc: Learning Outdoor LiDAR Localization at Light Speedcited by 10
  8. 2024PointDifformer: Robust Point Cloud Registration With Neural Diffusion and Transformercited by 6
  9. 2023RobustMat: Neural Diffusion for Street Landmark Patch Matching under Challenging Environmentscited by 5
  10. 2024EffLoc: Lightweight Vision Transformer for Efficient 6-DOF Camera Relocalizationcited by 3
  11. 2025Efficient Training of Neural Fractional-Order Differential Equation via Adjoint Backpropagationcited by 3
  12. 2024PosDiffNet: Positional Neural Diffusion for Point Cloud Registration in a Large Field of View with Perturbationscited by 2
6 more
  1. 2024PRFusion: Toward Effective and Robust Multi-Modal Place Recognition with Image and Point Cloud Fusioncited by 2
  2. 2024ConDo: Continual Domain Expansion for Absolute Pose Regressioncited by 2
  3. 2023Node Embedding from Hamiltonian Information Propagation in Graph Neural Networkscited by 0
  4. 2023Improving Efficiency of DNN-based Relocalization Module for Autonomous Driving with Server-side Computingcited by 0
  5. 2025APR-Transformer: Initial Pose Estimation for Localization in Complex Environments through Absolute Pose Regressioncited by 0
  6. 2026LightLoc++: Sensor-Robust Representation Learning for Efficient Outdoor LiDAR Localizationcited by 0