Modality-Agnostic Topology Aware Localization - Supplemental Material - Farhad G. Zanjani Ilia Karmanov Hanno Ackermann Daniel Dijkman Simone Merlin Max Welling Fatih Porikli Qualcomm AIResearch

Triplet sampling was implemented based on the temporal vicinity of samples. Since the input is sequential, for each sample (called anchor) in the sequence, we consider a small and a large temporal window with predefined fixed widths. These two temporal windows are centered at the timestamp of the anchor. Any sample inside the smaller temporal window can be considered as a positive sample and any sample outside the small window but inside the large window can be considered as a negative sample. The widths of the temporal windows roughly depend on the speed of the observer in the environment.