DPC-SLAM: Discrete Plane Constrained VSLAM for Intelligent Vehicle in Road Environment - Wu, Zhihong; Wang, Huaide; An, Hao; Zhu, Yuan; Xu, Ruidong; Lu, Ke (2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC), Intelligent Transportation Systems (ITSC), 2023 IEEE 26th International Conference on, 2023)