a question for the initializations about Beta in _mapnet.ini_

[yuzewang1998]

Hi Samarth,
I am implement your paper and I have a question for the initializations about Beta in mapnet.ini .I found that you set Beta = -3.0 in mapnet.ini ,and in your paper (Section 3.5. Implementation Details) you choose Beta = 0.0 instead.

Can I learn from you that which is the better initialization for Beta, and whether it has some reason to choose that initialization?
Thanks, waiting for your reply.

[samarth-robo]

Hi @novasky0709! I think others have asked similar questions before. I have tried to compile hyper parameter information in this README based on those questions. Does it answer your question?

[yuzewang1998]

Hi @samarth-robo ! Thanks for your reply .In that README ,beta was only explained the meaning (absolute pose) but wasn't given a value . So I think the initialization for Beta is the same as the paper . In paper , beta was initialized by 0.0 . In mapnet.ini, beta was initialized by -3.0. So I wonder if there's some reasons for that initialization.

[samarth-robo]

@novasky0709 that README I linked has this line: "beta is the initial value of Gamma (Eq. 3 of the paper) for absolute pose".

[yuzewang1998]

Thanks for your reply.