Differentiable Factor Graph Optimization with Intelligent Covariance Adaptation for Accurate Smartphone Positioning

Penghui Xu, Hoi-Fung Ng, Yihan Zhong, Guohao Zhang, Weisong Wen, Bo Yang, Li-Ta Hsu

Proceedings of the 36th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2023) (2023)