A sparse-map-based lightweight and robust LiDAR-inertial localization method
Wei Mingyang, Deng Minwei, Zhang Shunzheng, Yang Junfu, Zhou Baoding, Song Jiangbo
Bulletin of Surveying and Mapping . 2026, (9): 115 -122,163 .  DOI: 10.13474/j.cnki.11-2246.2026.0917