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**Developers**
Wei Xu 徐威: Laser mapping and pose optimization;
[Wei Xu 徐威](https://github.com/XW-HKU): Laser mapping and pose optimization;
Zheng Liu 刘政: Features extraction.
[Zheng Liu 刘政](https://github.com/Zale-Liu): Features extraction.
To know more about the details, please refer to our related paper:)