receiving two images having different camera poses;

inputting the two images into a geometric solver branch to return, as a first solution, an estimated camera pose and an associated pose uncertainty value determined from a Jacobian of a reproduction error function;

inputting the two images into a CNN branch, having a pose branch multi-layer perceptron (MLP) and an uncertainty branch MLP, to return, as a second solution, a predicted camera pose by the pose branch MLP and an associated pose uncertainty value predicted by the uncertainty branch MLP by extracting appearance features with a feature extractor and geometric features with an attentional graph neural network and a geometric feature MLP; and

fusing, by a processor device, the first solution and the second solution in a probabilistic manner based on the uncertainty predictions using Bayes' rule to obtain a fused pose.