Which mathematics are behind pcdownsample: 'nonuniformgrid'

2017 8 19
2 个回答
更新时间：2017 12 6
4 次查看（30 天）

1 个投票

I am using pcdownsample in my master thesis. I would like to know the mathematics behind it or the paper it is based on, in order to cite it in my work.
Does somebody know which mathematics it is based on?
Cheers,
Michael

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回答（2 个）

the cyclist
the cyclist 2017-8-19

0 个投票

The algorithm and/or references are often in the documentation (in this case, here). But I don't see them there.
If you type
type pcdownsample
you will see a listing of the file. References are often at the top of the file (which you might also able to see with just "help downsample"), and sometimes further down in the midst of the calculation.
I don't have the Computer Vision System Toolbox, so I can't check directly.

0 个投票

this is the reference, i hope that this reference will be useful to you.
% François Pomerleau, Francis Colas, Roland Siegwart, Stéphane Magnenat, % Comparing ICP variants on real-world data sets, Autonomous Robots, % April 2013, Volume 34, Issue 3, pp 133-148

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