# Learning Neural Volumetric Pose Features for Camera Localization

arXiv: https://arxiv.org/abs/2403.12800 · HTML: https://mlsanity.com/paper/2403.12800/

## Key facts

- Cited by 11 papers in the map (data through 14 Oct 2026).
- Builds on 25 of its 44 references that are in the map.
- First posted on arXiv 19 Mar 2024.

## Builds on (most cited first, 25 of 25)

- [NeRF in the Wild: Neural Radiance Fields for Unconstrained Photo Collections](https://mlsanity.com/paper/2008.02268/) (2020)
- [ORB-SLAM: a Versatile and Accurate Monocular SLAM System](https://mlsanity.com/paper/1502.00956/) (2015)
- [BARF: Bundle-Adjusting Neural Radiance Fields](https://mlsanity.com/paper/2104.06405/) (2021)
- [From Coarse to Fine: Robust Hierarchical Localization at Large Scale](https://mlsanity.com/paper/1812.03506/) (2018)
- [Panoptic Neural Fields: A Semantic Object-Aware Neural Scene Representation](https://mlsanity.com/paper/2205.04334/) (2022)
- [Geometric Loss Functions for Camera Pose Regression with Deep Learning](https://mlsanity.com/paper/1704.00390/) (2017)
- [COLMAP-Free 3D Gaussian Splatting](https://mlsanity.com/paper/2312.07504/) (2023)
- [Understanding the Limitations of CNN-based Absolute Camera Pose Regression](https://mlsanity.com/paper/1903.07504/) (2019)
- [NEAT: Neural Attention Fields for End-to-End Autonomous Driving](https://mlsanity.com/paper/2109.04456/) (2021)
- [Geometry-Aware Learning of Maps for Camera Localization](https://mlsanity.com/paper/1712.03342/) (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)
- [LENS: Localization enhanced by NeRF synthesis](https://mlsanity.com/paper/2110.06558/) (2021)
- [Learning Multi-Scene Absolute Pose Regression with Transformers](https://mlsanity.com/paper/2103.11468/) (2021)
- [DFNet: Enhance Absolute Pose Regression with Direct Feature Matching](https://mlsanity.com/paper/2204.00559/) (2022)
- [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)
- [Direct-PoseNet: Absolute Pose Regression with Photometric Consistency](https://mlsanity.com/paper/2104.04073/) (2021)
- [Deep Auxiliary Learning for Visual Localization and Odometry](https://mlsanity.com/paper/1803.03642/) (2018)
- [CROSSFIRE: Camera Relocalization On Self-Supervised Features from an Implicit Representation](https://mlsanity.com/paper/2303.04869/) (2023)
- [Camera Pose Auto-Encoders for Improving Pose Regression](https://mlsanity.com/paper/2207.05530/) (2022)
- [HR-APR: APR-agnostic Framework with Uncertainty Estimation and Hierarchical Refinement for Camera Relocalisation](https://mlsanity.com/paper/2402.14371/) (2024)
- [Paying Attention to Activation Maps in Camera Pose Regression](https://mlsanity.com/paper/2103.11477/) (2021)
- [Lazy Visual Localization via Motion Averaging](https://mlsanity.com/paper/2307.09981/) (2023)
- [PDF: Point Diffusion Implicit Function for Large-scale Scene Neural Representation](https://mlsanity.com/paper/2311.01773/) (2023)

## Built on by (most cited first, 11 of 11)

- [Reloc3r: Large-Scale Training of Relative Camera Pose Regression for Generalizable, Fast, and Accurate Visual Localization](https://mlsanity.com/paper/2412.08376/) (2024)
- [GS-CPR: Efficient Camera Pose Refinement via 3D Gaussian Splatting](https://mlsanity.com/paper/2408.11085/) (2024)
- [Scene-agnostic Pose Regression for Visual Localization](https://mlsanity.com/paper/2503.19543/) (2025)
- [Reloc-VGGT: Visual Re-localization with Geometry Grounded Transformer](https://mlsanity.com/paper/2512.21883/) (2025)
- [Video Understanding: From Geometry and Semantics to Unified Models](https://mlsanity.com/paper/2603.17840/) (2026)
- [Adversarial Exploitation of Data Diversity Improves Visual Localization](https://mlsanity.com/paper/2412.00138/) (2024)
- [GRLoc: Geometric Representation Regression for Visual Localization](https://mlsanity.com/paper/2511.13864/) (2025)
- [Rethinking Pose Refinement in 3D Gaussian Splatting under Pose Prior and Geometric Uncertainty](https://mlsanity.com/paper/2603.16538/) (2026)
- [HAL-NeRF: High Accuracy Localization Leveraging Neural Radiance Fields](https://mlsanity.com/paper/2504.08901/) (2025)
- [L3:Scene-agnostic Visual Localization in the Wild](https://mlsanity.com/paper/2603.07937/) (2026)
- [InCaRPose: In-Cabin Relative Camera Pose Estimation Model and Dataset](https://mlsanity.com/paper/2604.03814/) (2026)

## Abstract (arXiv)

We introduce a novel neural volumetric pose feature, termed PoseMap, designed to enhance camera localization by encapsulating the information between images and the associated camera poses. Our framework leverages an Absolute Pose Regression (APR) architecture, together with an augmented NeRF module. This integration not only facilitates the generation of novel views to enrich the training dataset but also enables the learning of effective pose features. Additionally, we extend our architecture for self-supervised online alignment, allowing our method to be used and fine-tuned for unlabelled images within a unified framework. Experiments demonstrate that our method achieves 14.28% and 20.51% performance gain on average in indoor and outdoor benchmark scenes, outperforming existing APR methods with state-of-the-art accuracy.