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

文章目錄 1、摘要 2、步驟 2.1 以激光原點爲中心，均勻劃分周圍空間 1、摘要 https://mp.weixin.qq.com/s/J1pVixk0rY_hxtDq4ry1JQ 2、步驟 2.1 以激光原點爲中心，均勻劃分周圍空間 we first divide a 3D scan into azimuthal(方位的) and radial(徑向的) bins in the sensor

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