00306nas a2200121   4500000000100000008004100001100001700042700001300059700001900072700001300091700001900104245006100123       2024                            d1 aJiantao Feng1 aXinde Li1 aHyunCheol Park1 aJuan Liu1 aZhentong Zhang00aAn improved SLAM method based on planar map registration