Iverson Bracket
Iverson Bracket 又称 艾弗森括号。常用方括号来表示。满足括号内的条件则值为1, 不满足条件则值为0.
Example
R ^ , t ^ = arg max R ′ , t ′ ∑ i ∣ C ∣ ⟦ ∥ R ′ x i + t ′ − y i ∥ < τ ⟧ \hat{\mathbf{R}}, \hat{\mathbf{t}}=\arg \max _{\mathbf{R}^{\prime}, \mathbf{t}^{\prime}} \sum_{i}^{|C|} \llbracket\left\|\mathbf{R}^{\prime} x_{i}+\mathbf{t}^{\prime}-y_{i}\right\|<\tau \rrbracket R^,t^=argR′,t′maxi∑∣C∣[[∥R′xi+t′−yi∥<τ]]