Abstract: A computing device is provided for supporting a mobile device to perform a visual localization in a target environment. The computing device is configured to obtain and modify one or more 3D models of the target environment to generate a set of 3D models. The computing device is further configured to determine a set of training samples based on the set of 3D models. Each training sample comprises an image derived from the set of the 3D models and corresponding pose information. The computing device is further configured to train a neural network model based on the set of training samples, so that the trained neural network model is configured to predict pose information for an image captured in the target environment and to output a confidence value associated with the predicted pose information.