Factor Graph Fusion of GNSS Sensing with IMU and Lidar for Robot Localization w/o a Base Station 

Jonas Beuchert, Marco Camurri, and Maurice Fallon.
“Factor Graph Fusion of Raw GNSS Sensing with IMU and Lidar for Precise Robot Localization without a Base Station”.
In: arXiv preprint arXiv:2209.14649 (2022).
URL: arxiv.org/abs/...