# Robot Localization in Tunnels: Combining Discrete Features in a Pose Graph Framework

> Research article (Sensors, 2022) · cited 10× · AI/ML

**Wikidata**: [openalex:W4212960132](https://www.wikidata.org/wiki/openalex:W4212960132)  
**Source**: https://4ort.xyz/entity/robot-localization-in-tunnels-combining-discrete-features-in-a-pose-graph-framework