@inproceedings{duan2022pfilter,
  title={Pfilter: Building persistent maps through feature filtering for fast and accurate lidar-based slam},
  author={Duan, Yifan and Peng, Jie and Zhang, Yu and Ji, Jianmin and Zhang, Yanyong},
  booktitle={2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={11087--11093},
  year={2022},
  organization={IEEE}
}