# A High-Precision LiDAR-Inertial Odometry via Invariant Extended Kalman Filtering and Efficient Surfel Mapping

> Research article (IEEE Transactions on Instrumentation and Measurement, 2024) · cited 16× · AI/ML

**Wikidata**: [openalex:W4393299499](https://www.wikidata.org/wiki/openalex:W4393299499)  
**Source**: https://4ort.xyz/entity/a-high-precision-lidar-inertial-odometry-via-invariant-extended-kalman-filtering-and-efficient-surfel-mapping