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Continuous-Time Factor Graph Optimization for Trajectory Smoothness of GNSS/INS Navigation in Temporarily GNSS-Denied Environments.

Haoming ZhangXiao XiaMaximilian NitschDirk Abel
Published in: IEEE Robotics Autom. Lett. (2022)
Keyphrases
  • navigation systems
  • factor graphs
  • graphical models
  • message passing
  • route planning
  • belief propagation
  • latent variables
  • multipath
  • probabilistic inference
  • pairwise
  • approximate inference
  • np hard
  • model construction