How to efficiently read a kml file into R

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I'm working with huge .kml files (up to 10 Gb) and need an efficient way to read them into R. Until now I've been converting them to shapefiles via QGIS and then back into R with readShapePoly and readOGR (the latter, by the way, is ~1000 faster than the former). I'd ideally like to cut-out the QGIS intermediary stage as it is cumbersome and slow.

How to read .kml files in directly?


I see this can be also be done with readOGR. Unfortunately, I cannot see how to implement the worked example (after lengthy preparation of .kml file: xx
 
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