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2. Automaticaly initialized at most steady environments;
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3. Parallel KD-Tree Search to decrease the computation;
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4. Robust feature extraction;
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5. Surpports for different FOV.
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**Developers**
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Wei Xu 徐威: Laser mapping and pose optimization
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Zheng Liu 刘政: Features extraction
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To know more about the details, please refer to our related paper:)
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