# U-ViLAR: Uncertainty-Aware Visual Localization for Autonomous Driving via Differentiable Association and Registration

arXiv: https://arxiv.org/abs/2507.04503 · HTML: https://mlsanity.com/paper/2507.04503/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- Builds on 35 of its 70 references that are in the map.
- First posted on arXiv 6 Jul 2025.

## Builds on (most cited first, 30 of 35)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [SuperGlue: Learning Feature Matching with Graph Neural Networks](https://mlsanity.com/paper/1911.11763/) (2019)
- [SuperPoint: Self-Supervised Interest Point Detection and Description](https://mlsanity.com/paper/1712.07629/) (2017)
- [BEVFormer: Learning Bird's-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformers](https://mlsanity.com/paper/2203.17270/) (2022)
- [Lift, Splat, Shoot: Encoding Images From Arbitrary Camera Rigs by Implicitly Unprojecting to 3D](https://mlsanity.com/paper/2008.05711/) (2020)
- [LoFTR: Detector-Free Local Feature Matching with Transformers](https://mlsanity.com/paper/2104.00680/) (2021)
- [BEVDet: High-performance Multi-camera 3D Object Detection in Bird-Eye-View](https://mlsanity.com/paper/2112.11790/) (2021)
- [BEVDepth: Acquisition of Reliable Depth for Multi-view 3D Object Detection](https://mlsanity.com/paper/2206.10092/) (2022)
- [PETR: Position Embedding Transformation for Multi-View 3D Object Detection](https://mlsanity.com/paper/2203.05625/) (2022)
- [Beyond Cross-view Image Retrieval: Highly Accurate Vehicle Localization Using Satellite Image](https://mlsanity.com/paper/2204.04752/) (2022)
- [OrienterNet: Visual Localization in 2D Public Maps with Neural Matching](https://mlsanity.com/paper/2304.02009/) (2023)
- [VRP-SAM: SAM with Visual Reference Prompt](https://mlsanity.com/paper/2402.17726/) (2024)
- [A Sim2Real Deep Learning Approach for the Transformation of Images from Multiple Vehicle-Mounted Cameras to a Semantically Segmented Image in Bird's Eye View](https://mlsanity.com/paper/2005.04078/) (2020)
- [Uncertainty-aware Vision-based Metric Cross-view Geolocalization](https://mlsanity.com/paper/2211.12145/) (2022)
- [SliceMatch: Geometry-guided Aggregation for Cross-View Pose Estimation](https://mlsanity.com/paper/2211.14651/) (2022)
- [Exploring Effective Factors for Improving Visual In-Context Learning](https://mlsanity.com/paper/2304.04748/) (2023)
- [The Role of World Models in Shaping Autonomous Driving: A Comprehensive Survey](https://mlsanity.com/paper/2502.10498/) (2025)
- [Learning to Localize Using a LiDAR Intensity Map](https://mlsanity.com/paper/2012.10902/) (2020)
- [GitNet: Geometric Prior-based Transformation for Birds-Eye-View Segmentation](https://mlsanity.com/paper/2204.07733/) (2022)
- [Drag Your Gaussian: Effective Drag-Based Editing with Score Distillation for 3D Gaussian Splatting](https://mlsanity.com/paper/2501.18672/) (2025)
- [You Are Here: Geolocation by Embedding Maps and Images](https://mlsanity.com/paper/1911.08797/) (2019)
- [MapLocNet: Coarse-to-Fine Feature Registration for Visual Re-Localization in Navigation Maps](https://mlsanity.com/paper/2407.08561/) (2024)
- [DriVerse: Navigation World Model for Driving Simulation via Multimodal Trajectory Prompting and Motion Alignment](https://mlsanity.com/paper/2504.18576/) (2025)
- [Revisiting MLLMs: An In-Depth Analysis of Image Classification Abilities](https://mlsanity.com/paper/2412.16418/) (2024)
- [U-BEV: Height-aware Bird's-Eye-View Segmentation and Neural Map-based Relocalization](https://mlsanity.com/paper/2310.13766/) (2023)
- [MPDrive: Improving Spatial Understanding with Marker-Based Prompt Learning for Autonomous Driving](https://mlsanity.com/paper/2504.00379/) (2025)
- [BEV-Locator: An End-to-end Visual Semantic Localization Network Using Multi-View Images](https://mlsanity.com/paper/2211.14927/) (2022)
- [EgoVM: Achieving Precise Ego-Localization using Lightweight Vectorized Maps](https://mlsanity.com/paper/2307.08991/) (2023)

## Built on by (most cited first, 5 of 5)

- [Multi-Granularity Reasoning for Image Quality Assessment via Attribute-Aware Reinforcement Learning to Rank](https://mlsanity.com/paper/2604.09704/) (2026)
- [Hierarchical Retrieval Augmented Generation for Adversarial Technique Annotation in Cyber Threat Intelligence Text](https://mlsanity.com/paper/2604.14166/) (2026)
- [Avoiding Overthinking and Underthinking: Curriculum-Aware Budget Scheduling for LLMs](https://mlsanity.com/paper/2604.19780/) (2026)
- [Taming Visual Neglect: A Variational Information Bottleneck Framework for Adaptive Attention in Multimodal In-Context Learning](https://mlsanity.com/paper/2608.23570/) (2026)
- [TraceICL: Thread-Resolved Demonstration Curation with Consistency Calibration for Robust Multimodal In-Context Learning](https://mlsanity.com/paper/2610.12516/) (2026)

## Abstract (arXiv)

Accurate localization using visual information is a critical yet challenging task, especially in urban environments where nearby buildings and construction sites significantly degrade GNSS (Global Navigation Satellite System) signal quality. This issue underscores the importance of visual localization techniques in scenarios where GNSS signals are unreliable. This paper proposes U-ViLAR, a novel uncertainty-aware visual localization framework designed to address these challenges while enabling adaptive localization using high-definition (HD) maps or navigation maps. Specifically, our method first extracts features from the input visual data and maps them into Bird's-Eye-View (BEV) space to enhance spatial consistency with the map input. Subsequently, we introduce: a) Perceptual Uncertainty-guided Association, which mitigates errors caused by perception uncertainty, and b) Localization Uncertainty-guided Registration, which reduces errors introduced by localization uncertainty. By effectively balancing the coarse-grained large-scale localization capability of association with the fine-grained precise localization capability of registration, our approach achieves robust and accurate localization. Experimental results demonstrate that our method achieves state-of-the-art performance across multiple localization tasks. Furthermore, our model has undergone rigorous testing on large-scale autonomous driving fleets and has demonstrated stable performance in various challenging urban scenarios.