scanContextLoopDetector
Description
scanContextLoopDetector
detects loop closures in point cloud
data using global scan context descriptors. A scan context descriptor
encodes a point cloud view into a 2-D descriptor. scanContextLoopDetector
stores the
descriptors with a corresponding view identifier to associate the detected loop closures to a
view in a pcviewset
for map
building.
Creation
Description
creates a default loopDetector
= scanContextLoopDetector()scanContextLoopDetector
object. Use the addDescriptor
object function to add descriptors to the loop detector. Use the detectLoop
object function to detect loop closures.
Properties
Object Functions
addDescriptor | Add descriptor to the loop closure detector |
deleteDescriptor | Delete descriptors from the loop closure detector |
detectLoop | Detect loop closures |
Examples
Extended Capabilities
Version History
Introduced in R2021b