# Large-Scale LiDAR SLAM with Factor Graph Optimization on High-Level Geometric Features

> Research article (Sensors, 2021) · cited 26× · AI/ML

**Wikidata**: [openalex:W3162996633](https://www.wikidata.org/wiki/openalex:W3162996633)  
**Source**: https://4ort.xyz/entity/large-scale-lidar-slam-with-factor-graph-optimization-on-high-level-geometric-features