Global fine registration of point cloud in LiDAR SLAM based on pose graph
YAN Li, DAI Jicheng, TAN Junxiang, LIU Hua, CHEN Changjun
Acta Geodaetica et Cartographica Sinica . 2019, (3): 313 -321 .  DOI: 10.11947/j.AGCS.2019.20170716