如何进行激光雷达扫描匹配

1、%使用lidarScan创建一个参考激光雷达扫描。指定范围和角度为向量。命令行键入：refRanges = 5*ones(1,300);refAngles = linspace(-pi/2,pi/2,300);refScan = lidarScan(refRanges,refAngles);

3、%匹配参考扫描和第二次扫描，估计两者之间的位姿差异。命令行键入：pose = matchScans(currScan,refScan);

5、%绘制原始扫描和对齐扫描。命令行键入：subplot(2,1,1);hold onplot(currScan)plot(refScan)title('Or足毂忍珩iginal Scans')hold offsubplot(2,1,2);hold onplot(currScan2)plot(refScan)title('Aligned Scans')xlim([0 5])hold off