SLAM激光点云整体精配准位姿图技术

闫利, 戴集成, 谭骏祥, 刘华, 陈长军

Global fine registration of point cloud in LiDAR SLAM based on pose graph

YAN Li, DAI Jicheng, TAN Junxiang, LIU Hua, CHEN Changjun

测绘学报 . 2019, (3): 313 -321 . DOI: 10.11947/j.AGCS.2019.20170716