# Factor Graph Fusion of Raw GNSS Sensing with IMU and Lidar for Precise Robot Localization without a Base Station

> Research article (2023 IEEE International Conference on Robotics and Automation (ICRA), 2023) · cited 25× · AI/ML

**Wikidata**: [openalex:W4383108377](https://www.wikidata.org/wiki/openalex:W4383108377)  
**Source**: https://4ort.xyz/entity/factor-graph-fusion-of-raw-gnss-sensing-with-imu-and-lidar-for-precise-robot-localization-without-a-base-station