UQ-Loc: Uncertainty-Aware LiDAR Scene Coordinate Regression

LiDAR-based Scene Coordinate Regression (SCR) maps point clouds directly to 3D scene coordinates, enabling precise 6-DoF localisation without explicit map retrieval.

LiDAR-based Scene Coordinate Regression (SCR) maps point clouds directly to 3D scene coordinates, enabling precise 6-DoF localisation without explicit map retrieval. However, existing methods produce deterministic predictions, discarding aleatoric uncertainty that could improve…