An Online Solution of LiDAR Scan Matching Aided Inertial Navigation System for Indoor Mobile Mapping

<div>(a) The map results of UGV platform with LiDAR scan matching standalone. (b) The map and trajectories result of UGV platform with post-EKF solution and online EKF solution.</div>

Mobile Information Systems

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Figure 5

Figure 5: An Online Solution of LiDAR Scan Matching Aided Inertial Navigation System for Indoor Mobile Mapping 