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Keywords: PSA-ICP
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Journal Articles
Industrial Robot 1–16.
Published: 22 September 2026
...-Intersection over Union (IoU) covariance modulation for uncertainty-aware LiDAR updates and a PSA-ICP two-stage loop-registration module within multifactor graph optimization. Dynamic information is first used to reject high-risk point-cloud features, then encoded in the Iterated Error‑state Kalman Filter...
