Factor Graph Fusion of Raw GNSS Sensing with IMU and Lidar for Precise Robot Localization without a Base Station
Jonas Beuchert,Marco Camurri,Maurice Fallon,Jonas Beuchert,Marco Camurri,Maurice Fallon
Accurate localization is a core component of a robot's navigation system. To this end, global navigation satellite systems (GNSS) can provide absolute measurements outdoors and, therefore, eliminate long-term drift. However, fusing GNSS data with other sensor data is not trivial, especially when a robot moves between areas with and without sky view. We propose a robust approach that tightly fuses ...
