A tightly coupled SLAM method for precise urban mapping
SUN Xiliang, GUAN Hongcan, SU Yanjun, XU Guangcai, GUO Qinghua
Acta Geodaetica et Cartographica Sinica . 2021, (11): 1585 -1593 .  DOI: 10.11947/j.AGCS.2021.20210243