A laser SLAM method for unmanned vehicles in point cloud degenerated tunnel environments
LI Shuaixin, LI Jiuren, TIAN Bin, CHEN Long, WANG Li, LI Guangyun
Acta Geodaetica et Cartographica Sinica . 2021, (11): 1487 -1499 .  DOI: 10.11947/j.AGCS.2021.20210248