global_input 的9个内容分别都是哪些

siyandong / NeuralCoMapping

[CVPR 2022] Multi-Robot Active Mapping via Neural Bipartite Graph Matching.

MIT License

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Closed DioBakery closed 3 months ago

DioBakery commented 4 months ago

请问global_input 的9个内容分别都是哪些？和论文中的4个自图和3个交叉图又是怎么对应的？

illusive-chase commented 4 months ago

global_input的相关代码注释 https://github.com/siyandong/NeuralCoMapping/blob/main/utils/map_manager.py#L60-L61 中描述了其内容
“论文中的4个自图和3个交叉图”这里分别是self-attention和cross-attention，详见AttentionalGNN这个类及相关代码 https://github.com/siyandong/NeuralCoMapping/blob/main/utils/gnn.py#L234