Hello.
I have a question regarding the time that is required to reach convergence for the query image. In your article you stated that it took, as a maximum, 56.7s to reach convergence with 10.000 particles. But the data was provided for the Carla dataset, which weighted only 0.2 Gb.
What I am really interested in is how long would it take to reach convergence for the Apollo dataset that weights 5.4 Gb (27 times bigger!). Thank you in advance.