Cross-Correlation

参考文献：A Map Based On Laser scans without geometric interpretation

互相关方法Cross-Correlation

circular Cross-Correlation的Matlab实现

 1 % Computes the circular cross-correlation between two sequences
 2 %
 3 % a,b             the two sequences
 4 % normalize       if true, normalize in [0,1]
 5 %
 6 function c = circularCrossCorrelation(a,b,normalize)
 7
 8 for k=1:length(a)
 9     c(k)=a*b‘;
10     b=[b(end),b(1:end-1)]; % circular shift
11 end
12
13 if normalize
14     minimum = min(c);
15     maximum = max(c);
16     c = (c - minimum) / (maximum-minimum);
17 end