@article{jiao2021robust,
  title     = {Robust odometry and mapping for multi-lidar systems with online extrinsic calibration},
  author    = {Jiao, Jianhao and Ye, Haoyang and Zhu, Yilong and Liu, Ming},
  journal   = {IEEE Transactions on Robotics},
  volume    = {38},
  number    = {1},
  pages     = {351--371},
  year      = {2021},
  publisher = {IEEE}
}