Allroad-SLAM: Factor graph-based 3D reconstruction in diverse road scenarios with a consumer-grade GNSS-LiDAR-inertial system - Xuzhe Duan; Pengcheng Zhao; Wenwu Ou; Guangshuo Zhu; Mingyao Ai; Jiayuan Li; Xujie Zhang; Ju Zhang; Qingwu Hu (ISPRS Journal of Photogrammetry and Remote Sensing, 2026)