# Multi-sensor fusion method based on FFR-FK for 3D trajectory measurement of underground pipelines

> Research article (Tunnelling and Underground Space Technology, 2023) · cited 13× · AI/ML

**Wikidata**: [openalex:W4385824636](https://www.wikidata.org/wiki/openalex:W4385824636)  
**Source**: https://4ort.xyz/entity/multi-sensor-fusion-method-based-on-ffr-fk-for-3d-trajectory-measurement-of-underground-pipelines