@article{beuchert2022factor,
  title = "Factor Graph Fusion of Raw GNSS Sensing with IMU and Lidar for Precise Robot Localization without a Base Station",
  author = "Beuchert, Jonas and Camurri, Marco and Fallon, Maurice",
  year = "2023",
  journal = "arXiv preprint arXiv:2209.14649",
  note = "accepted to the 2023 IEEE International Conference on Robotics and Automation (ICRA)",
  url = "https://doi.org/10.48550/arXiv.2209.14649",
  doi = "10.48550/arXiv.2209.14649",
}