吃不胖的粥

原创 python3.8 pclpy安装

【代码】python3.8 pclpy安装。

原创 ubuntu20.04 python3.8 安装python3-pcl

直接用conda 安装python3-pcl会报python版本不对应的错直接使用sudo apt install python3-pcl 安装也没成功查找了一下博客，这个老哥的第二个方法work挂链接稍微有点不同。

原创 关于更新conda需要权限的问题

报错：CondaValueError: Malformed version string '~': invalid character(s).当我用root用户去执行时，由于没有将anaconda3加入到root 用户下的环境变量，所以提示conda 命令不存在。sudo chown -R 用户名:用户名 /root/anaconda3/搜了一下，原因是因为conda安装在root路径下，没有权限。想跑delora的源码，安装各种报错，记录一下。搜了一下，说要更新一下conda。

原创 每日文章打卡十一 SOE-Net: A Self-Attention and Orientation Encoding Network for Point Cloud based Place Rec

论文阅读 论文题目SOE-Net: A Self-Attention and Orientation Encoding Network for Point Cloud based Place Recognition

原创 每日论文打卡十 LCDNet: Deep Loop Closure Detection for LiDAR SLAM based on Unbalanced Optimal Transport

论文阅读 LCDNet: Deep Loop Closure Detection for LiDAR SLAM based on Unbalanced Optimal Transport

原创 每日文章打卡九 PoinNetVLAD：Deep Point Cloud Based Retrieval for Large-Scale Place Recognition

论文阅读 PoinNetVLAD：Deep Point Cloud Based Retrieval for Large-Scale Place Recognition

原创 每日文章打卡八 3D LiDAR-Based Global Localization Using Siamese Neural Network

论文阅读 3D LiDAR-Based Global Localization Using Siamese Neural Network

原创 每日文章打卡七 RINet: Efficient 3D Lidar-Based Place RecognitionUsing Rotation Invariant Neural Network

文章阅读 RINet: Efficient 3D Lidar-Based Place RecognitionUsing Rotation Invariant Neural Network

原创 每日文章打卡六 OverlapTransformer: An Efficient and Yaw-Angle-Invariant Transformer Network for LiDAR-Base

文章阅读 论文题目OverlapTransformer: An Efficient and Yaw-Angle-Invariant Transformer Network for LiDAR-Based Place Recognition

原创 每日文章打卡五 SA-LOAM: Semantic-aided LiDAR SLAM with Loop Closure

文章阅读 文章标题 SA-LOAM: Semantic-aided LiDAR SLAM with Loop Closure

原创 每日文章打卡四 LLOAM: LiDAR Odometry and Mapping with Loop- closure Detection Based Correction

文章阅读 文章标题LLOAM: LiDAR Odometry and Mapping with Loop- closure Detection Based Correction

原创 每日论文打卡三 OverlapNet: Loop Closing for LiDAR-based SLAM

文章阅读 论文题目OverlapNet: Loop Closing for LiDAR-based SLAM 2020 RSS

原创 每日论文打卡二 SegMatch：Segment-based place recognition in 3D point cloud

SegMatch：Segment-based place recognition in 3D point cloud

原创 每日一篇论文打卡 一 A noval 3D SLAM based on Directed Geometry Point and Sparse Frame

文章瞎读

原创 Ubuntu Minkowski Engine安装

我的环境 ubuntu 20.04gcc 7.5.0 g++7.5.0（gcc -v 查看版本 g++ -v查看版本 ）cuda 11.0python 3.6.5pytorch 1.10官网链接 ​​​​​​GitHub - NVIDIA/MinkowskiEngine: Minkowski Engine is an auto-diff neural network library for high-dimensional sparse tensors（官网里面有详细的教程）1.git cl

原创 论文阅读: DeepPCO: End-to-End Point Cloud Odometry through Deep Parallel Neural Network 2020 IROS

论文：https://arxiv.org/pdf/1910.11088.pdf无源码

原创 论文阅读： LO-Net: Deep Real-time Lidar Odometry 2019 cvpr

论文：https://openaccess.thecvf.com/content_CVPR_2019/papers/Li_LO-Net_Deep_Real-Time_Lidar_Odometry_CVPR_2019_paper.pdf没有源码：

原创 论文阅读：Self-supervised Learning of LiDAR Odometry for Robotic Applications 2021 ICRA

论文：https://arxiv.org/pdf/2011.05418.pdf源码: https://github.com/leggedrobotics/DeLORA

转载 论文阅读 LO-Net 2019

https://blog.csdn.net/phy12321/article/details/108445509占个坑

原创 文章瞎读 A Probabilistic Framework for Color-Based Point Set Registration 2016

原创 文章瞎读 Joint Alignment of Multiple Point Sets with Batch and Incremental Expectation-Maximization 2016

原创 文章瞎读 A Generative Model for the Joint Registration of Multiple Point Sets 2014

原创 文章瞎读 Density Adaptive Point Set Registration 2018

这个是有代码的https://github.com/felja633/DARE

原创 文章瞎读 Pairwise coarse registration of point clouds in urban scenes using voxel-based 4-planes congrue

原创 文章瞎读 Using 2 Point+Normal Sets for Fast Registration of Point Clouds with Small Overlap 2017

原创 文章瞎读 super4PCS 2014

原创 文章瞎读 4PCS ——4-POINTS CONGRUENT SETS FOR ROBUST SURFACE REGISTRATION 2008

原创 文章瞎读 A Hybrid 3D Descriptor with Global Structural Frames and Local Signatures of Histograms 2018

刚开始的时候竟然还觉得IEEE Access是个不错的期刊~~

原创 文章瞎读 TOLDI: An effective and robust approach for 3D local shape description 2016

看多了以后，就发现描述子的构建基本上就那么几种变来变去~~

原创 文章瞎读 BRoPH: An efficient and compact binary descriptor for 3D point clouds

原创 文章瞎读 SigVox – A 3D feature matching algorithm for automatic street object recognition in mobile lase

原创 字符串相似性度量方法

评价两个描述子相似性的时候可以用上

原创 文献精读 3DHoPD: A Fast Low-Dimensional 3-D Descriptor 2017

这个方法速度贼快 ~~

原创 文献精读 Reconstruction of scaffolds from a photogrammetric point cloud of construction sites 2017

Reconstruction of scaffolds from a photogrammetric point cloud of construction sites using a novel 3D local feature descriptor(懒癌晚期，不想重新打字~~~）

原创 文献精读 B-SHOT : A Binary Feature Descriptor for Fast and Efficient Keypoint Matching on 3D Point Cloud

原创 文献精读 3D Binary Signatures 2015

原创 文献精读 A novel binary shape context for 3D local surface description ISPRS 2017

（之前都是写在葵花宝典上，怕本子会消失，我又懒得重写打字，所以扫描后记录在博客上）（PS：我是真的好喜欢在纸质本子上写字的感觉啊啊）能力有限，有错误的地方欢迎指出！...

原创 CVPR 2021 点云方向相关文章

点云(Point Cloud)DeepI2P: Image-to-Point Cloud Registration via Deep Classification(通过深度分类的图像到点云配准)paper|codeFESTA: Flow Estimation via Spatial-Temporal Attention for Scene Point Clouds(FESTA：场景点云通过时空注意进行光流估计)paperDenoise and Contrast for Category...

原创 latex 真香

前言以前都是一个word走天下，奈何投稿某期刊，只有latex模板，遂赶鸭子上架，两天速成。不得不说，真香。 （最好是先在word上写好，然后用latex排版）准备1. 时间太紧，没有下载专门的latex软件（看了一下软件太大了，小破电脑的内存不够），找到了一个线上版的，叫overleaf，网址https://www.overleaf.com/project，这个真的还挺好用的。2. 搜到了一个表格神器，可以直接将word表格转为latex， 网址https://www.tabl...

转载 通过git工具上传本地文件夹到github

转载https://www.jianshu.com/p/c70ca3a020872.1 下载git工具选择对应版本下载2.2 下载完成后安装完成，注意在安装过程中可以选择创建桌面快捷方式桌面快捷方式2.3 绑定用户打开git-bash.exe（直接在桌面上点击右键，或者点击开始按钮找到Git Bash）在打开的GIt Bash中输入以下命令（用户和邮箱为你github注册的账号和邮箱）$ git config --global user.name "hanyun..