Fast Scan Context Matching for Omnidirectional 3D Scan
Hikaru Kihara,Makoto Kumon,Kei Nakatsuma,Tomonari Furukawa,Hikaru Kihara,Makoto Kumon,Kei Nakatsuma,Tomonari Furukawa
Autonomous robots need to recognize the environment by identifying the scene. Scan context is one of global descriptors, and it encodes the three-dimensional scan data of the scene for the identification in a matrix form. Scan context is in a matrix form that is simple to store, but the matching of scan contexts can require computational effort because the descriptor is orientation-dependent. Beca...
