基于全局特征描述子的激光SLAM回环检测方法

韩超, 陈敏, 黄宇昊, 赵明辉, 杜乾坤, 梁庆华

Loop Closure Detection Method of Laser SLAM Based on Global Feature Descriptor

HAN Chao, CHEN Min, HUANG Yuhao, ZHAO Minghui, DU Qiankun, LIANG Qinhua

图3 旋转和平移不变性实验

Fig.3 Experiments of rotation and translation invariance