Abstract: A data processing apparatus for determining a pose of an image capturing device based on an image of a three dimensional (3D) scene is disclosed. The data processing apparatus comprises a processing circuitry configured to: select a plurality of key two dimensional (2D) points of a plurality of 2D points of the image based on a respective score of each of the plurality of 2D points; determine at least for a subset of the plurality of 2D points of the image a respective feature vector for obtaining a plurality of feature vectors; concatenate the image with the plurality of feature vectors for obtaining an intermediate tensor; determine a plurality of 3D points of the 3D scene based on the intermediate tensor; and determine the pose based on the plurality of key 2D points of the image and the plurality of 3D points of the 3D scene using a Perspective-n-Point scheme.