├── README.md ├── figs └── motivation_repo.png ├── get_flops_fps.py ├── maploc ├── __init__.py ├── __init__.pyc ├── conf │ ├── __init__.py │ ├── data │ │ ├── __init__.py │ │ ├── kitti.yaml │ │ ├── mapillary_brisbane.yaml │ │ ├── mapillary_detroit.yaml │ │ ├── mapillary_mgl.yaml │ │ ├── mapillary_munich.yaml │ │ └── mapillary_taipei.yaml │ ├── model │ │ └── image_encoder │ │ │ ├── depth_anything.yaml │ │ │ ├── global.yaml │ │ │ ├── resnet_fpn.yaml │ │ │ └── vgg_unet.yaml │ ├── orienternet.yaml │ ├── osmloc_base.yaml │ ├── osmloc_small.yaml │ └── training.yaml ├── data │ ├── __init__.py │ ├── dataset.py │ ├── image.py │ ├── kitti │ │ ├── __init__.py │ │ ├── dataset.py │ │ ├── prepare.py │ │ ├── test1_files.txt │ │ ├── test2_files.txt │ │ ├── train_files.txt │ │ └── utils.py │ ├── mapillary │ │ ├── __init__.py │ │ ├── dataset.py │ │ ├── download.py │ │ ├── prepare.py │ │ ├── splits_MGL_13loc.json │ │ └── utils.py │ ├── sequential.py │ ├── torch.py │ └── utils.py ├── evaluation │ ├── __init__.py │ ├── kitti.py │ ├── mapillary.py │ ├── run.py │ ├── utils.py │ └── viz.py ├── models │ ├── __init__.py │ ├── base.py │ ├── bev_net.py │ ├── bev_projection.py │ ├── depth_anything │ │ ├── __init__.py │ │ ├── blocks.py │ │ ├── dpt.py │ │ └── util │ │ │ └── transform.py │ ├── dinov2 │ │ ├── CODE_OF_CONDUCT.md │ │ ├── CONTRIBUTING.md │ │ ├── LICENSE │ │ ├── MODEL_CARD.md │ │ ├── README.md │ │ ├── conda.yaml │ │ ├── dinov2 │ │ │ ├── __init__.py │ │ │ ├── configs │ │ │ │ ├── __init__.py │ │ │ │ ├── eval │ │ │ │ │ ├── vitb14_pretrain.yaml │ │ │ │ │ ├── vitg14_pretrain.yaml │ │ │ │ │ ├── vitl14_pretrain.yaml │ │ │ │ │ └── vits14_pretrain.yaml │ │ │ │ ├── ssl_default_config.yaml │ │ │ │ └── train │ │ │ │ │ ├── vitg14.yaml │ │ │ │ │ ├── vitl14.yaml │ │ │ │ │ └── vitl16_short.yaml │ │ │ ├── data │ │ │ │ ├── __init__.py │ │ │ │ ├── adapters.py │ │ │ │ ├── augmentations.py │ │ │ │ ├── collate.py │ │ │ │ ├── loaders.py │ │ │ │ ├── masking.py │ │ │ │ ├── samplers.py │ │ │ │ └── transforms.py │ │ │ ├── distributed │ │ │ │ └── __init__.py │ │ │ ├── eval │ │ │ │ ├── __init__.py │ │ │ │ ├── knn.py │ │ │ │ ├── linear.py │ │ │ │ ├── log_regression.py │ │ │ │ ├── metrics.py │ │ │ │ ├── setup.py │ │ │ │ └── utils.py │ │ │ ├── fsdp │ │ │ │ └── __init__.py │ │ │ ├── layers │ │ │ │ ├── __init__.py │ │ │ │ ├── attention.py │ │ │ │ ├── block.py │ │ │ │ ├── dino_head.py │ │ │ │ ├── drop_path.py │ │ │ │ ├── layer_scale.py │ │ │ │ ├── mlp.py │ │ │ │ ├── patch_embed.py │ │ │ │ └── swiglu_ffn.py │ │ │ ├── logging │ │ │ │ ├── __init__.py │ │ │ │ └── helpers.py │ │ │ ├── loss │ │ │ │ ├── __init__.py │ │ │ │ ├── dino_clstoken_loss.py │ │ │ │ ├── ibot_patch_loss.py │ │ │ │ └── koleo_loss.py │ │ │ ├── models │ │ │ │ ├── __init__.py │ │ │ │ └── vision_transformer.py │ │ │ ├── run │ │ │ │ ├── __init__.py │ │ │ │ ├── eval │ │ │ │ │ ├── knn.py │ │ │ │ │ ├── linear.py │ │ │ │ │ └── log_regression.py │ │ │ │ ├── submit.py │ │ │ │ └── train │ │ │ │ │ └── train.py │ │ │ ├── train │ │ │ │ ├── __init__.py │ │ │ │ ├── ssl_meta_arch.py │ │ │ │ └── train.py │ │ │ └── utils │ │ │ │ ├── __init__.py │ │ │ │ ├── cluster.py │ │ │ │ ├── config.py │ │ │ │ ├── dtype.py │ │ │ │ ├── param_groups.py │ │ │ │ └── utils.py │ │ ├── hubconf.py │ │ ├── pyproject.toml │ │ ├── requirements-dev.txt │ │ ├── requirements.txt │ │ ├── scripts │ │ │ └── lint.sh │ │ ├── setup.cfg │ │ ├── setup.py │ │ ├── utils.py │ │ └── vision_transformer.py │ ├── feature_extractor.py │ ├── feature_extractor_v2.py │ ├── map_encoder.py │ ├── metrics.py │ ├── orienternet.py │ ├── osmloc.py │ ├── sequential.py │ ├── utils.py │ └── voting.py ├── module.py ├── osm │ ├── __init__.py │ ├── analysis.py │ ├── data.py │ ├── download.py │ ├── parser.py │ ├── raster.py │ ├── reader.py │ ├── tiling.py │ └── viz.py ├── train.py └── utils │ ├── __init__.py │ ├── exif.py │ ├── geo.py │ ├── geo_opensfm.py │ ├── geometry.py │ ├── io.py │ ├── sensor_data.json │ ├── tools.py │ ├── viz_2d.py │ ├── viz_localization.py │ └── wrappers.py 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