├── Boosting3DoFAccuracy ├── LICENSE ├── README.md ├── RNNs.py ├── VGG.py ├── __pycache__ │ ├── RNNs.cpython-38.pyc │ ├── VGG.cpython-38.pyc │ ├── cfgnode.cpython-38.pyc │ ├── cross_attention.cpython-38.pyc │ ├── jacobian.cpython-38.pyc │ ├── models_ford.cpython-38.pyc │ ├── models_kitti.cpython-38.pyc │ ├── swin_transformer.cpython-38.pyc │ ├── swin_transformer_cross.cpython-38.pyc │ ├── utils.cpython-38.pyc │ └── visualize_utils.cpython-38.pyc ├── cfgnode.py ├── cross_attention.py ├── dataLoader │ ├── KITTI_dataset3_outlier.py │ ├── __pycache__ │ │ ├── Ford_dataset.cpython-38.pyc │ │ ├── Ford_dataset_ICRA.cpython-38.pyc │ │ ├── KITTI_dataset.cpython-38.pyc │ │ ├── KITTI_dataset2.cpython-38.pyc │ │ ├── KITTI_dataset2_outlier.cpython-38.pyc │ │ ├── KITTI_dataset3_outlier.cpython-38.pyc │ │ ├── KITTI_dataset_tmp.cpython-38.pyc │ │ └── utils_pykitti.cpython-38.pyc │ ├── utils.py │ └── utils_pykitti.py ├── jacobian.py ├── main_kitti_G2SSLAMFusion.py ├── models_kitti.py ├── swin_transformer.py ├── swin_transformer_cross.py ├── utils.py └── visualize_utils.py ├── LICENSE.txt ├── README.md ├── data └── kitti_2011_10_03_drive_0042_sync │ ├── keyframe_matchedFeatNum_L.npy │ ├── keyframe_name.txt │ └── keyframe_pose.txt ├── doc ├── flowchart.jpg └── introduction.jpg └── matlab ├── .~lock.meet_poses_0930_0016.xlsx# ├── .~lock.meet_poses_0930_0018.xlsx# ├── .~lock.meet_poses_0930_0020.xlsx# ├── .~lock.meet_poses_0930_0027.xlsx# ├── .~lock.meet_poses_0930_0028.xlsx# ├── .~lock.meet_poses_0930_0033.xlsx# ├── .~lock.meet_poses_0930_0034.xlsx# ├── .~lock.meet_poses_1003_0034.xlsx# ├── .~lock.meet_poses_1003_0042.xlsx# ├── LICENSE ├── Optimizer17_poseGraph_SLAM2OXTS_VOCVWeights ├── GetCov2d_crossview.m ├── calculate_Error_noScale_huber.m ├── calculate_Error_scale_huber.m ├── calculate_Jacobian_noScale_huber.m ├── calculate_Jacobian_scale_huber.m ├── covEst_noScale.m ├── covEst_scale.m ├── update_state_noScale.m └── update_state_scale.m ├── fig01_kitti_show_trajectory.m ├── main_kitti_crossview ├── main_crossview_PGO_SLAM2oxts_CVandVOweights_Cov_Ab.m ├── main_crossview_localBA.asv ├── main_crossview_localBA.m ├── main_crossview_poseGraph.m ├── main_crossview_sPGO_SLAM2oxts_CVWeight_Cov_Ab_ford.asv ├── main_crossview_sPGO_SLAM2oxts_CVWeight_Cov_Ab_ford.m ├── main_crossview_sPGO_SLAM2oxts_CVandVOweights.asv ├── main_crossview_sPGO_SLAM2oxts_CVandVOweights.m ├── main_crossview_sPGO_SLAM2oxts_CVandVOweights_Cov.asv ├── main_crossview_sPGO_SLAM2oxts_CVandVOweights_Cov.m ├── main_crossview_sPGO_SLAM2oxts_CVandVOweights_CovDebug.m ├── main_crossview_sPGO_SLAM2oxts_CVandVOweights_Cov_Ab.m ├── main_crossview_scalePoseGraph.m └── main_crossview_scalePoseGraph_SLAM2oxts_weights.m ├── math ├── +SO3 │ ├── Adj.m │ ├── Exp.m │ ├── Hat.m │ ├── Inv.m │ ├── InvJl.m │ ├── InvJr.m │ ├── Jl.m │ ├── Jr.m │ ├── Log.m │ └── Vee.m ├── Closed-Form Solution of Absolute Orientation using Orthonormal Matrices.m ├── Liegroup_Fang │ ├── math │ │ ├── @SE3 │ │ │ └── SE3.m │ │ ├── @SO3 │ │ │ └── SO3.m │ │ ├── TestSE3.m │ │ └── TestSO3.m │ └── posegraph │ │ ├── +SE3 │ │ ├── Adj.m │ │ ├── BCH_Residual_rh.m │ │ ├── Exp.m │ │ ├── Hat.m │ │ ├── Inv.m │ │ ├── InvAdj.m │ │ ├── InvJl.m │ │ ├── InvJr.m │ │ ├── Jl.m │ │ ├── Jr.m │ │ ├── LieBracket.m │ │ ├── Log.m │ │ ├── Ql.m │ │ ├── Qr.m │ │ ├── Vee.m │ │ ├── adHat.m │ │ └── adVee.m │ │ ├── +SO3 │ │ ├── Adj.m │ │ ├── Exp.m │ │ ├── Hat.m │ │ ├── Inv.m │ │ ├── InvJl.m │ │ ├── InvJr.m │ │ ├── Jl.m │ │ ├── Jr.m │ │ ├── Log.m │ │ └── Vee.m │ │ ├── @ConstrainedFormulation │ │ ├── #ConstrainedFormulation.m# │ │ ├── ConstrainedFormulation.m │ │ ├── DumpData3D.m │ │ ├── add_data_g2o.m │ │ └── plotTrajectory.m │ │ ├── @IncrementalConstrainedFramework │ │ └── IncrementalConstrainedFramework.m │ │ ├── @IncrementalNLSFramework │ │ └── IncrementalNLSFramework.m │ │ ├── @NLSFormulation │ │ ├── DumpData3D.m │ │ ├── NLSFormulation.m │ │ ├── add_data_g2o.m │ │ └── plotTrajectory.m │ │ ├── @PoseGraph │ │ ├── #PoseGraph.m# │ │ └── PoseGraph.m │ │ ├── Dataset_SensitivityAnalysis.m │ │ ├── Dataset_SensitivityAnalysis_Incremental.m │ │ ├── LieProps.m │ │ ├── MySphere.txt │ │ ├── ObsoleteFiles │ │ ├── DebugToyExampleSQP.m │ │ ├── Examin_CovMatrix.m │ │ ├── LinearSystemEquilibrium.mat │ │ ├── Plot_CONS_OBJ.m │ │ ├── TestLinearSystemSolver.m │ │ ├── luq.m │ │ ├── plotTrajectory.m │ │ ├── spspaces.m │ │ └── tightfig.m │ │ ├── SimulateCircle.m │ │ ├── ToyExample_SensitivityAnalysis.m │ │ └── data_cmd │ │ ├── BatchComandsChs1.txt │ │ ├── BatchComandsChs2.txt │ │ ├── BatchComandsChs3.txt │ │ ├── BatchComandsChs4.txt │ │ ├── BatchComandsChs5.txt │ │ ├── BatchComandsChs6.txt │ │ ├── BatchComandsChs7.txt │ │ ├── IncrementalComandsDatasetchs1Batch.txt │ │ └── IncrementalComandsDatasetchs1Online.txt ├── Pose_3D_to_3D.m ├── SO3_angle2M.m ├── SO3_angle2M_Jacobian.m ├── eul2rotm.m ├── se3_exp.m ├── skew.m ├── so3_exp.m ├── so3_hatinv.m └── so3_log.m ├── math_crossview ├── euler_from_rotation_matrix.m ├── euler_to_rotation_matrix.m ├── rotx.m ├── roty.m └── rotz.m ├── plot_utils ├── matvisual.zip ├── matvisual │ ├── example.m │ ├── license.txt │ └── matvisual.m ├── plot_pose.m ├── show_crossview_ablation_kitti.m ├── show_refine_result.m ├── show_refine_result_cov.m ├── show_refine_result_trajUpdate.m ├── show_trajectory_kitti.m ├── show_trajectory_kitti_compareCrossView.m ├── show_trajectory_kitti_flowchart.asv ├── show_trajectory_kitti_flowchart_globalAlign.m └── show_trajectory_kitti_globalAlign.m ├── utils_crossview ├── intersection.asv └── intersection.m └── utils_fig ├── IoSR-Surrey-MatlabToolbox-4bff1bb ├── +iosr │ ├── +acoustics │ │ ├── irStats.m │ │ └── rtEst.m │ ├── +auditory │ │ ├── azimuth2itd.m │ │ ├── binSearch.m │ │ ├── calcIld.m │ │ ├── chXcorr.m │ │ ├── chXcorr2.m │ │ ├── chXcorr2_c.c │ │ ├── chXcorr_c.c │ │ ├── createWindow.m │ │ ├── dupWeight.m │ │ ├── erbRate2hz.m │ │ ├── freqMulti.m │ │ ├── gammatoneFast.m │ │ ├── hz2erbRate.m │ │ ├── iso226.m │ │ ├── itd2azimuth.m │ │ ├── lindemannInh.m │ │ ├── loudWeight.m │ │ ├── makeErbCFs.m │ │ ├── meddisHairCell.m │ │ ├── perceptualCentroid.m │ │ ├── perceptualCentroid2.m │ │ ├── xcorrLindemann.m │ │ └── xcorrLindemann_c.c │ ├── +bss │ │ ├── applyIdealMasks.m │ │ ├── applyMask.m │ │ ├── calcImr.m │ │ ├── calcSnr.m │ │ ├── cfs2fcs.m │ │ ├── example.m │ │ ├── generateMixtures.m │ │ ├── getFullMask.m │ │ ├── idealMasks.m │ │ ├── mixture.m │ │ ├── resynthesise.m │ │ └── source.m │ ├── +dsp │ │ ├── audio.m │ │ ├── autocorr.m │ │ ├── convFft.m │ │ ├── istft.m │ │ ├── lapwin.m │ │ ├── localpeaks.m │ │ ├── ltas.m │ │ ├── matchEQ.m │ │ ├── rcoswin.m │ │ ├── rms.m │ │ ├── sincFilter.m │ │ ├── smoothSpectrum.m │ │ ├── stft.m │ │ └── vsmooth.m │ ├── +figures │ │ ├── chMap.m │ │ ├── cmrMap.m │ │ ├── multiwaveplot.m │ │ └── subfigrid.m │ ├── +general │ │ ├── cell2csv.m │ │ ├── checkMexCompiled.m │ │ ├── getContents.m │ │ ├── updateContents.m │ │ └── urn.m │ ├── +statistics │ │ ├── boxPlot.m │ │ ├── functionalBoxPlot.m │ │ ├── functionalPlot.m │ │ ├── functionalSpreadPlot.m │ │ ├── getRmse.m │ │ ├── kernelDensity.m │ │ ├── laprnd.m │ │ ├── qqPlot.m │ │ ├── quantile.m │ │ ├── statsPlot.m │ │ ├── tab2box.m │ │ └── trirnd.m │ ├── +svn │ │ ├── buildSvnProfile.m │ │ ├── headRev.m │ │ └── readSvnKeyword.m │ ├── Contents.m │ └── install.m ├── LICENSE ├── README.md ├── deps │ └── SOFA_API │ │ ├── SOFAaddVariable.m │ │ ├── SOFAappendText.m │ │ ├── SOFAarghelper.m │ │ ├── SOFAcalculateAPV.m │ │ ├── SOFAcheckFilename.m │ │ ├── SOFAcompact.m │ │ ├── SOFAcompare.m │ │ ├── SOFAcompileConventions.m │ │ ├── SOFAconvertCoordinates.m │ │ ├── SOFAdbPath.m │ │ ├── SOFAdbURL.m │ │ ├── SOFAdefinitions.m │ │ ├── SOFAexpand.m │ │ ├── SOFAgetConventions.m │ │ ├── SOFAgetVersion.m │ │ ├── SOFAinfo.m │ │ ├── SOFAload.m │ │ ├── SOFAmerge.m │ │ ├── SOFAplotGeometry.m │ │ ├── SOFAplotHRTF.m │ │ ├── SOFAsave.m │ │ ├── SOFAspat.m │ │ ├── SOFAstart.m │ │ ├── SOFAupdateDimensions.m │ │ ├── SOFAupgradeConventions.m │ │ ├── conventions │ │ ├── GeneralFIR-a.mat │ │ ├── GeneralFIR-m.mat │ │ ├── GeneralFIR-r.mat │ │ ├── GeneralFIR.csv │ │ ├── GeneralFIRE-a.mat │ │ ├── GeneralFIRE-m.mat │ │ ├── GeneralFIRE-r.mat │ │ ├── GeneralFIRE.csv │ │ ├── GeneralString-a.mat │ │ ├── GeneralString-m.mat │ │ ├── GeneralString-r.mat │ │ ├── GeneralString.csv │ │ ├── GeneralTF-a.mat │ │ ├── GeneralTF-m.mat │ │ ├── GeneralTF-r.mat │ │ ├── GeneralTF.csv │ │ ├── MultiSpeakerBRIR-a.mat │ │ ├── MultiSpeakerBRIR-m.mat │ │ ├── MultiSpeakerBRIR-r.mat │ │ ├── MultiSpeakerBRIR.csv │ │ ├── SimpleFreeFieldHRIR-a.mat │ │ ├── SimpleFreeFieldHRIR-m.mat │ │ ├── SimpleFreeFieldHRIR-r.mat │ │ ├── SimpleFreeFieldHRIR.csv │ │ ├── SimpleFreeFieldSOS-a.mat │ │ ├── SimpleFreeFieldSOS-m.mat │ │ ├── SimpleFreeFieldSOS-r.mat │ │ ├── SimpleFreeFieldSOS.csv │ │ ├── SimpleFreeFieldTF-a.mat │ │ ├── SimpleFreeFieldTF-m.mat │ │ ├── SimpleFreeFieldTF-r.mat │ │ ├── SimpleFreeFieldTF.csv │ │ ├── SimpleHeadphoneIR-a.mat │ │ ├── SimpleHeadphoneIR-m.mat │ │ ├── SimpleHeadphoneIR-r.mat │ │ ├── SimpleHeadphoneIR.csv │ │ ├── SingleRoomDRIR-a.mat │ │ ├── SingleRoomDRIR-m.mat │ │ ├── SingleRoomDRIR-r.mat │ │ └── SingleRoomDRIR.csv │ │ ├── converters │ │ ├── SOFAconvertARI2SOFA.m │ │ ├── SOFAconvertBTDEI2SOFA.m │ │ ├── SOFAconvertCIPIC2SOFA.m │ │ ├── SOFAconvertFHK2SOFA.m │ │ ├── SOFAconvertLISTEN2SOFA.m │ │ ├── SOFAconvertMIT2SOFA.m │ │ ├── SOFAconvertSCUT2SOFA.m │ │ ├── SOFAconvertSOFA2ARI.m │ │ ├── SOFAconvertTUBerlin2SOFA.m │ │ ├── SOFAconvertTUBerlinBRIR2SOFA.m │ │ ├── SOFAhrtf2dtf.m │ │ └── miro.m │ │ ├── coordinates │ │ ├── hor2sph.m │ │ ├── nav2sph.m │ │ ├── sph2hor.m │ │ └── sph2nav.m │ │ ├── demos │ │ ├── demo_ARI2SOFA.m │ │ ├── demo_BTDEI2SOFA.m │ │ ├── demo_CIPIC2SOFA.m │ │ ├── demo_FHK2SOFA.m │ │ ├── demo_HpIR.m │ │ ├── demo_LISTEN2SOFA.m │ │ ├── demo_MIT2SOFA.m │ │ ├── demo_SCUT2SOFA.m │ │ ├── demo_SOFA2ARI.m │ │ ├── demo_SOFAHRTF2DTF.m │ │ ├── demo_SOFAexpandcompact.m │ │ ├── demo_SOFAload.m │ │ ├── demo_SOFAmerge.m │ │ ├── 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