Localization initialization for multi-beam LiDAR considering indoor scene feature
SHI Pengcheng, YE Qin, ZHANG Shaoming, DENG Haifeng
Acta Geodaetica et Cartographica Sinica . 2021, (11): 1594 -1604 .  DOI: 10.11947/j.AGCS.2021.20210268