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

Haoming Zhang, Xiao Xia, Maximilian Nitsch, Dirk Abel. Continuous-Time Factor Graph Optimization for Trajectory Smoothness of GNSS/INS Navigation in Temporarily GNSS-Denied Environments. IEEE Robotics and Automation Letters, 7(4):9115-9122, 2022. [doi]

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