Fig. 12From: Performance of LiDAR-SLAM-based PNT with initial poses based on NDT scan matching algorithmDynamic map in GNSS blocked area. a Top view of INS/GNSS-based dynamic map; b Top view of GNSS-based dynamic map; c Perspective view of INS/GNSS-based dynamic map; d Perspective view of GNSS-based dynamic mapBack to article page