# Hierarchical Estimation-Based LiDAR Odometry With Scan-to-Map Matching and Fixed-Lag Smoothing

> Research article (IEEE Transactions on Intelligent Vehicles, 2022) · cited 19× · AI/ML

**Wikidata**: [openalex:W4285177584](https://www.wikidata.org/wiki/openalex:W4285177584)  
**Source**: https://4ort.xyz/entity/hierarchical-estimation-based-lidar-odometry-with-scan-to-map-matching-and-fixed-lag-smoothing