A LiDAR/IMU spatial calibration method based on LiDAR labels and occupancy grid map
QIAN Chuang, ZHANG Hongjuan, LI Wenzhuo, LIU Hui, LI Bijun
Acta Geodaetica et Cartographica Sinica . 2023, (9): 1469 -1479 .  DOI: 10.11947/j.AGCS.2023.20220242