[1] [1] CADENA C, CARLONE L, CARRILLO H, et al. Past, present, and future of simultaneous localization and mapping: Toward the robust-perception age［J］. IEEE Transactions on Robotics, 2016, 32(6): 1309-1332.

[2] [2] SHAN T X, ENGLOT B. LeGO-LOAM: Lightweight and ground-optimized lidar odometry and mapping on variable terrain［C］//2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Madrid, Spain. IEEE, 2018: 4758-4765.

[3] [3] KIM G, KIM A. Scan context: Egocentric spatial descriptor for place recognition within 3D point cloud map［C］//2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Madrid, Spain： IEEE, 2018: 4802-4809.

[4] [4] YE Q, SHI P C, XU K Y, et al. A novel loop closure detection approach using simplified structure for low-cost LiDAR［J］. Sensors, 2020, 20(8): 2299.

[5] [5] CUI Y G, CHEN X, ZHANG Y L, et al. BoW3D: Bag of words for real-time loop closing in 3D LiDAR SLAM［J］. IEEE Robotics and Automation Letters, 2023, 8(5): 2828-2835.

[6] [6] AHN S, CHOI J, DOH N L, et al. A practical approach for EKF-SLAM in an indoor environment: Fusing ultrasonic sensors and stereo camera［J］. Autonomous Robots, 2008, 24(3): 315-335.

[10] [10] RIZZINI D L. Place recognition of 3D landmarks based on geometric relations［C］//2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Vancouver, BC, Canada. IEEE, 2017: 648-654.

[11] [11] CUI Y G, ZHANG Y L, DONG J H, et al. LinK3D: Linear keypoints representation for 3D LiDAR point cloud［J］. IEEE Robotics and Automation Letters, 2024, 3(9): 2128-2135.

[12] [12] PAN Y, XIAO P C, HE Y J, et al. MULLS: Versatile LiDAR SLAM via multi-metric linear least square［C］//2021 IEEE International Conference on Robotics and Automation (ICRA). Xi′an, China: IEEE, 2021: 1-15.

[14] [14] GEIGER A, LENZ P, URTASUN R. Are we ready for autonomous driving? The KITTI vision benchmark suite［C］//2012 IEEE Conference on Computer Vision and Pattern Recognition. Providence, RI: IEEE, 2012: 1231-1237.