Factor graphs for navigation applications: A tutorial
C Taylor, J Gross - NAVIGATION: Journal of the Institute of Navigation, 2024 - navi.ion.org
This tutorial presents the factor graph, a recently introduced estimation framework that is a
generalization of the Kalman filter. An approach for constructing a factor graph, with its …
generalization of the Kalman filter. An approach for constructing a factor graph, with its …
Hong Kong UrbanNav: An open-source multisensory dataset for benchmarking urban navigation algorithms
Accurate positioning in urban canyons remains a challenging problem. To facilitate the
research and development of reliable and precise positioning methods using multiple …
research and development of reliable and precise positioning methods using multiple …
PPP ambiguity resolution based on factor graph optimization
G **ao, C Yang, H Wei, Z **ao, P Zhou, P Li, Q Dai… - GPS Solutions, 2024 - Springer
Factor graph optimization has been widely used for state estimation in robotic SLAM
community. Extensive algorithms have been proposed for camera/LiDAR/INS based SLAM …
community. Extensive algorithms have been proposed for camera/LiDAR/INS based SLAM …
A Robust Android Gnss Rtk Positioning Scheme Using Factor Graph Optimization
The release of raw Android global navigation satellite system (GNSS) measurements makes
high-precision positioning achievable with low-cost smart devices. Affected by low-cost …
high-precision positioning achievable with low-cost smart devices. Affected by low-cost …
Real-time factor graph optimization aided by graduated non-convexity based outlier mitigation for smartphone decimeter challenge
Real-time reliable navigation in urban environments has received academic and
commercial interest over recent years. Unfortunately, commercial sensors such as …
commercial interest over recent years. Unfortunately, commercial sensors such as …
Factor graph-based PPP-RTK for accurate and robust positioning in urban environments
The PPP-RTK system, which is capable of providing a centimeter-level real-time positioning
service for an unlimited number of users, is becoming a promising tool in mass-market …
service for an unlimited number of users, is becoming a promising tool in mass-market …
Factor graph optimization for tightly-coupled GNSS pseudorange/Doppler/carrier phase/INS integration: Performance in urban canyons of Hong Kong
The combination of the global navigation satellite system (GNSS) and the inertial navigation
system (INS) is extensively studied due to their complementariness. The recently …
system (INS) is extensively studied due to their complementariness. The recently …
Reliable velocity determination through GNSS TDCP/Doppler combination using an improved FGO framework
H Wang, S Pan, X Tao, F Dong, L Teng, W Gao - Measurement, 2025 - Elsevier
Velocity is of great significance for navigation and controlling. GNSS has become the
mainstream outdoor velocity determination method by its global, all-weather, high-precision …
mainstream outdoor velocity determination method by its global, all-weather, high-precision …
Enhancing GNSS Positioning Accuracy for Road Monitoring Systems: A Factor Graph Optimization Approach Aided by Geospatial Information
The global navigation satellite system (GNSS) is one of the most popular solutions to
localize potential road cracks. Unfortunately, the accurate positioning of the GNSS in urban …
localize potential road cracks. Unfortunately, the accurate positioning of the GNSS in urban …
Factor Graph Optimization-based GNSS PPP-RTK: An Alternative Platform to Study Urban GNSS Precise Positioning
The global navigation satellite system (GNSS) PPP-RTK technique, which integrates the
superiorities of precise point positioning (PPP) and real-time kinematic (RTK), is increasingly …
superiorities of precise point positioning (PPP) and real-time kinematic (RTK), is increasingly …