int>sc_dist_result=distanceBtnScanContext(curr_desc,polarcontext_candidate);doublecandidate_dist=sc_dist_result.first;intcandidate_align=sc_dist_result.second;if(candidate_dist<min_dist){min
std::vector<float> polarcontext_invkey_vec = eig2stdvec( ringkey );//只做一步的数据格式转换,其余不变;换成数组,作为scancontext的key,就是在历史帧里面通过找相同的key来得到候选匹配,然后计算scan context的距离 void SCManager::saveScancontextAndKeys( Eigen::MatrixXd _scd ) { Eigen::MatrixXd ...
使用scan context进行ICP初始化。 sc_lego_loam;sc_lio_sam。 基于scan context的重定位。
private:intloop_step_ =5;intdiff_num_ =10.0;intdetect_area_ =10.0;std::deque<KeyFrame> historical_key_frames;SCManager sc_manager_;};voidDetector::ScanContextDetector(constYAML::Node& node){unsignedintnum_exclude_recent = node["num_exclude_recent"]...
Scan Contexthttps://github.com/irapkaist/scancontext LIO-SAMhttps://github.com/TixiaoShan/LIO-SAM You can also use the LiDAR-only version of this project, namedSC-LeGO-LOAM. Scan Context: A fast and robust place recognition Light-weight: a single header and cpp file named "Scancontext.h...
Scan Context can be easily integrated with any LiDAR odometry algorithms or any LiDAR sensors. Examples are: Integrated with A-LOAM: SC-A-LOAM Integrated with LeGO-LOAM: SC-LeGO-LOAM Integrated with LIO-SAM: SC-LIO-SAM Integrated with FAST-LIO2: FAST_LIO_SLAM Integrated with a basic ICP...
ScanQA: 3D Question Answering for Spatial Scene Understanding Daichi Azuma⇤ Kyoto University Taiki Miyanishi⇤ ATR, RIKEN AIP Shuhei Kurita⇤ RIKEN AIP, JST PRESTO Motoaki Kawanabe ATR, RIKEN AIP Abstract We propose a new 3D spatial understanding task for 3D question...
A Scan Context integration for LIO-SAM, namedSC-LIO-SAM (link), is also released. Real-time LiDAR SLAM: Scan Context (18 IROS) + LeGO-LOAM (18 IROS) This repository is an example use-case ofScan Context C++, the LiDAR place recognition method, for LiDAR SLAM applications. ...
In their work, they studied three types of laser feature detectors (range-based, normal-based, and curvature-based detectors) and two feature descriptors (linear local shape context descriptor and β-Grids descriptor. Based on the comprehensive analysis of these detectors and descriptors, they ...
Scan Context can be easily integrated with any LiDAR odometry algorithms or any LiDAR sensors. Examples are: Integrated with A-LOAM:SC-A-LOAM Integrated with LeGO-LOAM:SC-LeGO-LOAM Integrated with LIO-SAM:SC-LIO-SAM Integrated with FAST-LIO2:FAST_LIO_SLAM ...