Visual map from around view system for intelligent vehicle localization in underground parking lots
ZHOU Zhe, HU Zhaozheng, LI Na, XIAO Hanbiao, WU Jinxiang
Acta Geodaetica et Cartographica Sinica . 2021, (11): 1574 -1584 .  DOI: 10.11947/j.AGCS.2021.20210205