@inproceedings{ye2019tightly,
  title={Tightly Coupled 3D Lidar Inertial Odometry and Mapping},
  author={Ye, Haoyang and Chen, Yuying and Liu, Ming},
  booktitle={2019 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2019},
  organization={IEEE}
}