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Zhang, J., & Singh, S. (2016). Low-drift and real-time lidar odometry and mapping. Autonomous Robots, 41(2), 401-416. https://doi.org/10.1007/s10514-016-9548-2
Zhang J, Singh S. Low-drift and real-time lidar odometry and mapping. Autonomous Robots. 2016;41(2):401-16.