Scan Context: Egocentric Spatial Descriptor for Place Recognition within 3D Point Cloud Map

文章目录 1、摘要 2、步骤 2.1 以激光原点为中心，均匀划分周围空间 1、摘要 https://mp.weixin.qq.com/s/J1pVixk0rY_hxtDq4ry1JQ 2、步骤 2.1 以激光原点为中心，均匀划分周围空间 we first divide a 3D scan into azimuthal(方位的) and radial(径向的) bins in the sensor

>>阅读原文<<