ICRA 2026

Efficient localization and high-quality rendering in large-scale scenes remain a significant challenge due to the computational cost involved. While Scene Coordinate Regression (SCR) methods perform well in small-scale localization, they are limited by the capacity of a single network when extended to large-scale scenes. To address these challenges, we propose the Mixed Expert-based Accelerated Coordinate Encoding method (MACE), which enables efficient localization and high-quality rendering in large-scale scenes. Inspired by the remarkable capabilities of MOE in large model domains, we introduce a gating network to implicitly classify and select subnetworks, ensuring that only a single sub-network is activated during each inference. Furtheremore, we present AuxiliaryLoss-Free Load Balancing (ALF-LB) strategy to enhance the localization accuracy on large-scale scene. Our framework provides a significant reduction in costs while maintaining higher precision, offering an efficient solution for large-scale scene applications. Additional experiments on the Cambridge test set demonstrate that our method achieves high-quality rendering results with merely 10 minutes of training.