skill_saveplace/code/SpectralGV/evaluation/EgoNN/README.md

SpectralGV + EgoNN

Usage

• Clone the EgoNN codebase into this directory.

git clone https://github.com/jac99/Egonn.git

• Copy our re-ranking eval script into the EgoNN code base:

cp -r SGV_EgoNN/ Egonn/eval/
cd Egonn/eval/SGV_EgoNN/

• Evaluate place recognition and metric localization with and without SpectralGV re-ranking:

python eval_egonn_sgv.py --dataset_type <dataset_eg_'kitti'> --dataset_root <dataset_root_path>