Visual localization is the task of accurate camera pose estimation in a known scene. It is a key problem in computer vision and robotics, with applications including selfdriving cars, Structure-from-Motion, SLAM, and Mixed Reality. Traditionally, the localization problem has been tackled using 3D geometry. Recently, end-to-end approaches based on convolutional neural networks have become popular. These methods learn to directly regress the camera pose from an input image. However, they do not achieve the same level of pose accuracy as 3D structure-based methods. To understand this behavior, we develop a theoretical model for camera pose regression. We use our model to predict failure cases for pose regression techniques and verify our predictions through experiments. We furthermore use our model to show that pose regression is more closely related to pose approximation via image retrieval than to accurate pose estimation via 3D structure. A key result is that current approaches do not consistently outperform a handcrafted image retrieval baseline. This clearly shows that additional research is needed before pose regression algorithms are ready to compete with structure-based methods.

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The orbitofrontal cortex extends into the laterally adjacent inferior frontal gyrus. We analyzed how voxel-level functional connectivity of the inferior frontal gyrus and orbitofrontal cortex is related to depression in 282 people with major depressive disorder (125 were unmedicated) and 254 controls, using FDR correction P < 0.05 for pairs of voxels. In the unmedicated group, higher functional connectivity was found of the right inferior frontal gyrus with voxels in the lateral and medial orbitofrontal cortex, cingulate cortex, temporal lobe, angular gyrus, precuneus, hippocampus and frontal gyri. In medicated patients, these functional connectivities were lower and toward those in controls. Functional connectivities between the lateral orbitofrontal cortex and the precuneus, posterior cingulate cortex, inferior frontal gyrus, ventromedial prefrontal cortex and the angular and middle frontal gyri were higher in unmedicated patients, and closer to controls in medicated patients. Medial orbitofrontal cortex voxels had lower functional connectivity with temporal cortex areas, the parahippocampal gyrus and fusiform gyrus, and medication did not result in these being closer to controls. These findings are consistent with the hypothesis that the orbitofrontal cortex is involved in depression, and can influence mood and behavior via the right inferior frontal gyrus, which projects to premotor cortical areas.