Dawei Liu Hongyu Ni Xiaoyu Zhou Ning Yang Wenxu Yan Flexible ground constrained LiDAR SLAM with a novel plane detection. 109287 2024 117 Comput. Electr. Eng. https://doi.org/10.1016/j.compeleceng.2024.109287 db/journals/cee/cee117.html#LiuNZYY24 streams/journals/cee