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

Triplet sampling was implemented based on the temporal vicinity of samples. The widths of the temporal windows roughly depend on the speed of the observer in the environment. By using Euclidean distance, KNN samples (K=3) of each prototype vectors are found. Qualcomm AI Research is an initiative of Qualcomm Technologies, Inc. All 15 iGibson environments are used in the experiment.