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