【实验记录】SLAM论文：回环检测

PR曲线

检测不到的主要原因是光线、阴影等造成的无法提取图像信息

1. Robust_Place_Recognition_using_an_Imaging_Lidar

If the position between the matched nodes is less than 2m, we consider this detection a true positive, otherwise a false positive.
如果匹配节点之间的位置小于2m，则认为该检测为真阳性，否则为假阳性。

第四节的实验部分，没有绘制pr曲线，而是针对某一次实验计算了总共的loop次数、真阳性和假阳性，

2.Scan context: Egocentric spatial descriptor for place recognition within 3d point cloud map

If a ground truth pose distance between the query and the matched node is less than 4 m, the detection is considered as true positive.
如果查询和匹配节点之间的地面真实姿态距离小于 4 m，则检测被视为真阳性。

阈值为4m，大于这个数字就被视为假阳性；否则算法通过视为真阳性

3.M2DP: A novel 3D point cloud descriptor and its application in loop closure detection

Two locations are considered as the ground truth loop closure if their distance is less than 10m.
如果距离小于 10m，则两个位置被视为真实环路闭合。

For each point cloud, we calculate its descriptor and search for the nearest neighbour as the matching candidate. The ±50 (±5 for Freiburg Campus) frames before/after the current frame are excluded from the matching process to avoid matching neighboring point clouds. We then vary a distance threshold on the nearest neighbour distance to determine the match. If the distance between one frame and its nearest neighbour is less than the threshold, we take this match as loop closure. Using this threshold, the recall and precision curve is generated to compare the performance of different methods.
对于每个点云，我们计算其描述符并搜索最近的邻居作为匹配候选者。当前帧之前/之后的±50（弗莱堡校区±5）帧被排除在匹配过程之外，以避免匹配相邻点云。然后，我们改变最近邻距离的距离阈值来确定匹配。如果一帧与其最近邻居