can relative poses be used as positional information?

[guyupan1911]

Hi, thank you for you work.
It seems that the same GPS data is used in both train and test procedure. In the paper says other position sources such as odometry can be used. should i use relative poses or global poses of two different trips?

[mchancan]

Hi - sorry for the late reply and thank you for your interest in this work.
You can use relative poses if training and testing trajectories have roughly the same start (e.g. point A) and end (e.g. point B) locations; this is typically the case for autonomous driving datasets such as the Oxford RobotCar dataset for instance. Otherwise you'd need to transform relative poses to global for positional consistency.