Is gnss data necessary for retrieval？ about minkloc3dv2

[jac99]

Hi,
GNSS (or GPS) data is used to generate the training set. For each query point cloud, we find positive/similar point clouds (that are not more than 10 meters away) and negative/dissimilar point clouds (that are at least 50 meters away).
For retrieval itself, we push the 3D point cloud through the trained network and compute its descriptor (a 256-dimensional real-valued vector). Then, we find the point cloud in the database with the most similar descriptor.
However, we need to have a position of the most similar point cloud in the database, to reason about the location of the query point cloud. This can come from GSNN/GPS, or we can possibly use a global map by merging all database point clouds using some point cloud-based SLAM method.

[FUNDREAM99]

Thank you for your prompt reply,It's very helpful to me.