gmberton/CosPlace

Question about the number of 'group'

hmf21 opened this issue · 1 comments

hmf21 commented

Hi @gmberton :
Thanks for your impressive work and sharing code. I am wondering what is the meaning of hyperparameter 'groups'. Can I set the value of 'group' to 1 for the SF-XL dataset? What is the difference between one group and eight groups for training?
Hope for your reply!

gmberton commented

Hi, thanks for your interest!
Yes, the value of groups can be set to 1. On the paper you can find an ablation over the number of groups at Figure 10: the rightmost plot shows that when using 1 group instead of 8 the results are about 1% lower.