# Tightly coupled integration of monocular visual-inertial odometry and UC-PPP based on factor graph optimization in difficult urban environments

> Research article (GPS Solutions, 2023) · cited 12× · AI/ML

**Wikidata**: [openalex:W4389670687](https://www.wikidata.org/wiki/openalex:W4389670687)  
**Source**: https://4ort.xyz/entity/tightly-coupled-integration-of-monocular-visual-inertial-odometry-and-uc-ppp-based-on-factor-graph-optimization-in-diffi