To run the codebase, create a folder called Model in the root directory of this repository and download the following checkpoints into the model folder by need:

Weight for running MAC-VO (Full version)

• MACVO_FrontendCov.pth
• MACVO_posenet.pkl

Weights for Ablation Study

• Flowformer_things_kitti.pth

Weights for running Baseline Methods

TartanVO

• TartanVO_depth_cov.pth
• MACVO_posenet.pkl

DPVO

• DPVO.pth