AGPC-SLAM: Absolute Ground Plane Constrained 3D Lidar SLAM
3D lidar-based simultaneous localization and mapping (SLAM) is a well-recognized solution for mapping and localization applications.However, the typical 3D lidar sensor (e.g., Velodyne HDL-32E) only provides a very limited field of view vertically.As a result, B CALM the vertical accuracy of pose estimation suffers.This paper aims to alleviate this