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mit 16.485 vnav final project: extending Kimera-VIO to use NetVLAD for loop closure detection

License: BSD 2-Clause "Simplified" License

CMake 3.36% C++ 94.19% C 0.01% Python 1.04% Shell 1.15% Dockerfile 0.24%

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andrewhaeffner avatar bearn01d avatar cheng-hsiung avatar jingnanshi avatar marcusabate avatar mhkabir avatar nsinghal7 avatar ruffsl avatar sandro-berchier avatar tonioteran avatar tonirv avatar violetteavi avatar wallbraker avatar yunzc avatar

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kimera-vio-netvlad's Issues

netvlad time consuming problem

Hello, I have a doubt about Kimera-VIO. When using NetVLAD for retrieval, the traversal method is used, so the time should increase linearly with the increase of maps, is it not suitable for large maps?

torch error

@nsinghal7 Thanks for your great works!

which libtorch and cuda version do you use? I met some errors because of "c10::Error" and "at::Tensor".

I use prebuild libtorch libtorch-cxx11-abi-shared-with-deps-1.8.0.zip.

thanks!

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