Deep Global Features for Point Cloud Alignment
نویسندگان
چکیده
منابع مشابه
Supplement: Efficient Global Point Cloud Alignment using Bayesian Nonparametric Mixtures
1.1. The matrix Ξkk′ In the main text, we are given two unit vectors μ1k and μ2k′ in R. We define Ξkk′ = Ξ(μ1k, μ2k′), where Ξ(u, v) ∈ R4×4 is defined by u (q ◦ v) = qΞ(u, v)q, where u = (ui, uj , uk), v = (vi, vj , vk), and q = (qi, qj , qk, qr). By standard quaternion rotation formula, we have u (q ◦ v) = ui uj uk T 1− 2q j − 2q k 2(qiqj − qkqr) 2(qiqk + qjqr) 2(qiqj + qkqr) 1− 2q i − 2...
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ژورنال
عنوان ژورنال: Sensors
سال: 2020
ISSN: 1424-8220
DOI: 10.3390/s20144032