DETERMINING LOCALIZATION ERROR

The disclosed technology provides solutions for improving the accuracy of localization error estimates and in particular, provides methods for improving the accuracy of error estimates associated with individual localizers. A method of the disclosed technology can include steps for receiving a first location error estimate, corresponding with a first localizer of a first autonomous vehicle (AV), receiving a second location error estimate, corresponding with a second localizer of the first AV, and associating the first location error estimate and the second location error estimate with first location metadata and first environmental metadata corresponding with the first AV. The method can further include steps for determining a location error variance for the first localizer, based on the first location metadata, and the first environmental metadata. Systems and machine-readable media are also provided.