基于多约束因子图优化的无人车定位与建图方法

牛国臣, 王瑜

Unmanned vehicle positioning and mapping method based on multi-constraint factor graph optimization

NIU Guochen, WANG Yu

北京航空航天大学学报 . 2021, (2): 306 -314 . DOI: 10.13700/j.bh.1001-5965.2020.0212