Fig. 1. Workflow of proposed algorithm

Fig. 2. Curved voxel structure

Fig. 3. Comparison of results before and after point cloud processing. (a) Original cloud; (b) result after segmentation and dynamic target elimination

Fig. 4. Schematic diagram of point cloud coordinate system before and after correction. (a) Before correction; (b) after correction

Fig. 5. Schematic diagram of descriptor center calculation

Fig. 6. Schematic diagram of descriptor drawing. (a) Descriptor drawing; (b) descriptor Ω

Fig. 7. Comparison of invariance performance. (a) Rotation; (b) translation; (c) rotation+translation

Fig. 8. Precision-recall curves for four different sequences. (a) KITTI 00; (b) KITTI 02; (c) KITTI 05; (d) KITTI 08

Fig. 9. Precision-recall curves for two different sequences. (a) KITTI 00; (b) KITTI 08