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High quality datasets with accurate 6 Degree-of-Freedom (DoF) reference poses are the foundation for benchmarking and improving existing methods. Traditionally, reference poses have been obtained via Structure-from-Motion (SfM). However, SfM itself relies on local features which are prone to fail when images were taken under different conditions, e.g., day\/night changes. At the same time, manually annotating feature correspondences is not scalable and potentially inaccurate. In this work, we propose a semi-automated approach to generate reference poses based on feature matching between renderings of a 3D model and real images via learned features. Given an initial pose estimate, our approach iteratively refines the pose based on feature matches against a rendering of the model from the current pose estimate. We significantly improve the nighttime reference poses of the popular Aachen Day\u2013Night dataset, showing that state-of-the-art visual localization methods perform better (up to 47%) than predicted by the original reference poses. We extend the dataset with new nighttime test images, provide uncertainty estimates for our new reference poses, and introduce a new evaluation criterion. We will make our reference poses and our framework publicly available upon publication.<\/jats:p>","DOI":"10.1007\/s11263-020-01399-8","type":"journal-article","created":{"date-parts":[[2020,12,23]],"date-time":"2020-12-23T07:03:20Z","timestamp":1608707000000},"page":"821-844","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":130,"title":["Reference Pose Generation for Long-term Visual Localization via Learned Features and View Synthesis"],"prefix":"10.1007","volume":"129","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6526-0706","authenticated-orcid":false,"given":"Zichao","family":"Zhang","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Torsten","family":"Sattler","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Davide","family":"Scaramuzza","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2020,12,23]]},"reference":[{"key":"1399_CR1","unstructured":"Aiger, D., Kaplan, H., Kokiopoulou, E., Sharir, M., & Zeisl, B. 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