onlineFGO: Online Continuous-Time Factor Graph Optimization with Time-Centric Multi-Sensor Fusion for Robust Localization in Large-Scale Environments

Haoming Zhang, Felix Widmayer, Lars Lünnemann +1

Accurate and consistent vehicle localization in urban areas is challenging due to the large-scale and complicated environments. In this paper, we propose onlineFGO, a novel time-ce…