NDT registration introduction of SLAM

NDT methods

The theoretical basis of the method 1.NDT

Normal probability density function of
one yuan normal distribution density function is expressed as:
one yuan normal likelihood function is:
Click Jump specific derivation can be found in any one of mathematical statistics textbook, now we expand to pluralism that is contained X1, X2 ... Xp p variables




For diverse circumstances are:
Attached to a case of probability density two yuan

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Origin www.cnblogs.com/chenlinchong/p/12023978.html