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Improved 2D laser slam graph optimization based on Cholesky..:

, In: 2022 8th International Conference on Control, Decision and Information Technologies (CoDIT),
Gao, Liangliang ; Dong, Chaoyi ; Liu, Xiaoyang... - p. 659-662 , 2022
Link: https://doi.org/10.1109/CoDIT55151.2022.9803938