Jiang, Yi; Wang, Ting; Shao, Shiliang; Wang, Lebing - In: Industrial Robot: the international journal of robotics … 50 (2022) 1, pp. 174-185
tightly coupled with IMU angle constraints, ground constraints and gravity constraints for graph-based optimization in the … introduced the NDT algorithm in the front-end and designed ground constraints and gravity constraints in the back-end. The …
