1. Qi C.R., Su, H., Mo, K., Guibas, L.J.: Pointnet: Deep learning on point sets for 3d classification and segmentation. In: Proceedings of the IEEE conference on computer vision and pattern recognition, pp. 652–660 (2017)
2. Ciresan, D.C., Meier, U., Masci, J., Gambardella, L.M., Schmidhuber, J.: Flexible, high performance convolutional neural networks for image classification. In: Twenty-second international joint conference on artificial intelligence, pp. 1237–1242 (2011)
3. Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: ORB-SLAM: A versatile and accurate monocular SLAM system. IEEE Trans. Robot 31(5), 1147–1163 (2015)
4. Zhang, J., Singh, S.: LOAM: lidar odometry and mapping in real-time. Robot.: Sci. Syst. 2(9), 1–9 (2014)
5. Shizhuang, W., Xingqun, Z., Yawei, Z., Cheng, C., Jiawen, S.: Highly reliable relative navigation for multi-UAV formation flight in urban environments. Chin. J. Aeronaut 34(7), 257–270 (2021)