# NV-LIOM: LiDAR-Inertial Odometry and Mapping Using Normal Vectors Towards Robust SLAM in Multifloor Environments

> Research article (IEEE Robotics and Automation Letters, 2024) · cited 13× · AI/ML

**Wikidata**: [openalex:W4402389300](https://www.wikidata.org/wiki/openalex:W4402389300)  
**Source**: https://4ort.xyz/entity/nv-liom-lidar-inertial-odometry-and-mapping-using-normal-vectors-towards-robust-slam-in-multifloor-environments