# Factor Graph Optimization-Based Smartphone IMU-Only Indoor SLAM With Multihypothesis Turning Behavior Loop Closures

> Research article (IEEE Transactions on Aerospace and Electronic Systems, 2024) · cited 10× · AI/ML

**Wikidata**: [openalex:W4400770680](https://www.wikidata.org/wiki/openalex:W4400770680)  
**Source**: https://4ort.xyz/entity/factor-graph-optimization-based-smartphone-imu-only-indoor-slam-with-multihypothesis-turning-behavior-loop-closures