How to run the code

The detailed step of running the code is included in each branch. This code includes Supervised, our method and SPTM baseline methods for three different inputs including simulated Pointcloud, Habitatsim RGB, and Real RGB

How to collect input

For Pointcloud: Please refer to DeepMapping paper, https://github.com/ai4ce/PointCloudSimulator

For Habitat RGB: We just need RGB images and x,y,theta as input(for validation)

For Habitat RGB: We just need RGB_real images and x,y,theta as input(for validation)

Note that Our real-world dataset will be available later