Velocity Supervision Loss

[Adamqu199541]

such a wonderful work,but i dont know how to calculate translation by instantaneous velocity measurements, because i just find

tx = scale * packet.lon * np.pi * er / 180.
ty = scale * er *
np.log(np.tan((90. + packet.lat) * np.pi / 360.))
tz = packet.alt
t = np.array([tx, ty, tz])
in def pose_from_oxts_packet(raw_data, scale):
these codes dont include instantaneous velocity measurements

[Adamqu199541]

but in your paper you note that you introduce instantaneous velocity to calculate translation between two frame