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Factor Graphs for Robot Perception

https://doi.org/10.1561/2300000043
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Coordinated Heterogeneous Robot Team Outdoor Navigation
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Comparison of Methods for Covariance Estimation for Factor Graph Optimization of the Bayesian Estimation Problem
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Monocular-Based SLAM for Mobile Robots: Filtering-Optimization Hybrid Approach
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Cooperative Collision Risk Assessment for Superhighway Cut-In Scenarios Under V2X Dual Uncertainty
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Degree of nonlinearity analysis for graphical state space model solved by factor graph in radar tracking and GNSS/UWB integration
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Enhancing multi-robot map fusion in ROS 2 via dynamic trust factor weighting
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Toward GNSS real-time relative orbit determination for satellite formations using adaptively robust factor graph optimization
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A sensitivity enhancement method for time–frequency system integrity monitoring based on incremental update factor graph
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Parameterizations for large-scale variational system identification using unconstrained optimization
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Factor graph based navigation and positioning for control system design: A review
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Factor graph-based high-precision visual positioning for agricultural robots with fiducial markers
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LiDAR-based 3D SLAM for autonomous navigation in stacked cage farming houses: An evaluation
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Online 3D Mapping and Localization System for Agricultural Robots
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Maximum A Posteriori estimation for AUV localization with USBL measurements
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A multi-sensor fusion positioning approach for indoor mobile robot using factor graph
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Real-time position and velocity robust estimation for unmanned vehicles using adaptive sliding window factor graph optimization
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FC-KNet: A physical–data hybrid strategy for flying-car state estimation via adaptive Kalman gain reconstruction
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Optimized localization for multi-scale feature matching in turning scenarios
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Multi-session perception-aware coverage path planning for active semantic SLAM and automatic change detection
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U-GPMP: A probabilistic inference-based motion planner for underwater mobile manipulators
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A Dual-LiDAR ship-shore collaborative pose estimation method for USV berthing and unberthing
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Flow-based SLAM: From geometry computation to learning
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Comparing LiDAR and IMU-based SLAM approaches for 3D robotic mapping
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A new visual/inertial integrated navigation algorithm based on sliding-window factor graph optimisation
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Graph-optimisation-based self-calibration method for IMU/odometer using preintegration theory
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Li-GS: a fast 3D Gaussian reconstruction method assisted by LiDAR point clouds
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A robust factor graph optimization method of GNSS/INS/ODO integrated navigation system for autonomous vehicle
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A distributed factor graph model solving method for cooperative localization of UAV swarms
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IFAL-SLAM: an approach to inertial-centered multi-sensor fusion, factor graph optimization, and adaptive Lagrangian method
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Robust 4D millimeter-wave radar localization in adverse environments: a case study of smoke conditions
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MED-IMU: rotation-centered residual correction and calibration of short-window IMU preintegration factors
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A Closed Stockyard UAV Intelligent Inventory System
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M³LVI: a multi-feature, multi-metric, multi-loop, LiDAR-visual-inertial odometry via smoothing and mapping
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Lightweight SLAM with a hierarchical dynamic-object discrimination mechanism
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An Image-Based Approach for 3D Reconstruction of Urban Scenes Using Architectural Symmetries
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Multi-Agent Collaborative GNSS/Camera/INS Integration Aided by Inter-Ranging for Vehicular Navigation in Urban Areas
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ODS-Bot: Mobile Robot Navigation for Outdoor Delivery Services
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Toward Precise Ambiguity-Aware Cross-Modality Global Self-Localization
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Low-Cost Underwater Swarm Acoustic Localization: A Review
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Interchangeable Visual Inertial LiDAR Odometry and Mapping Payload Unit for Aerial Vehicles
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Factor Graphs in Optimization-Based Robotic Control—A Tutorial and Review
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Performance Analysis of FGO Windowing Strategies for PDR+GNSS Fusion Architecture
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Latent Inferred Scale Adaptation (I.S.A) for Residual Modeling Under Nonstationary Regimes
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Operations for Autonomous Spacecraft
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Workflows. User Interfaces, and Algorithms for Operations of Autonomous Spacecraft
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Research on System Design and Motion Control of Biped Wheeled Legged Robot with Multi-terrain Adaptation in Lunar
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Stable and adaptable state estimator for quadruped robots in diverse environments
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Multi-sensor Fusion Towards VINS: A Concise Tutorial, Survey, Framework and Challenges
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A LiDAR-Inertial Odometry by Fusing Adjacent Frames with Point Selection
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IMU/Camera/GNSS/UWB Integrated Localization Method Based on Factor Graph Optimization
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Visual SLAM for Asteroid Relative Navigation
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BLITZCRANK: Factor Graph Accelerator for Motion Planning
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Study of the Efficiency of a Localization Method in an Enclosed Space Using Cameras, LiDARs, and an Inertial Sensor
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Dynamic Tilt Estimation for Pen Tracking Using a Single Tri-Axial Accelerometer
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Proprioceptive State Estimation of Legged Robots with Kinematic Chain Modeling
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ICP Localization and Walking Experiments on a TALOS Humanoid Robot
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IMU-Preintegrated Radar Factors for Asynchronous Radar-LiDAR-Inertial SLAM
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Dynamic Voxel-Based Lidar Inertial Fusion SLAM Algorithm for Denial Scenarios
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SLAM for Underwater Autonomous Unmanned Systems: Sensors, Framework and Limitations
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HOSt3R: Keypoint-Free Hand-Object 3D Reconstruction from RGB Images
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SC-LiDAR-SLAM: A Front-end Agnostic Versatile LiDAR SLAM System
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Graph-based Extrinsic Calibration of Multiple 2D-Lidars
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Positioning Based on Factor Graph Optimization with GNSS Pseudorange Measurements from Smartphones
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Feature-Based SLAM for Imaging Sonar with Under-Constrained Landmarks
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Dense Planar-Inertial SLAM with Structural Constraints
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MH-iSAM2: Multi-hypothesis iSAM using Bayes Tree and Hypo-tree
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Surfel-Based Dense RGB-D Reconstruction With Global And Local Consistency
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Incremental Visual-Inertial 3D Mesh Generation with Structural Regularities
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ICS: Incremental Constrained Smoothing for State Estimation
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Active SLAM using 3D Submap Saliency for Underwater Volumetric Exploration
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FG-GMM-based Interactive Behavior Estimation for Autonomous Driving Vehicles in Ramp Merging Control
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Periodic SLAM: Using Cyclic Constraints to Improve the Performance of Visual-Inertial SLAM on Legged Robots
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Extrinsic Calibration and Verification of Multiple Non-overlapping Field of View Lidar Sensors
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Simultaneous Control and Trajectory Estimation for Collision Avoidance of Autonomous Robotic Spacecraft Systems
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PatchGraph: In-hand tactile tracking with learned surface normals
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GTGraffiti: Spray Painting Graffiti Art from Human Painting Motions with a Cable Driven Parallel Robot
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ShapeMap 3-D: Efficient shape mapping through dense touch and vision
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Incremental Abstraction in Distributed Probabilistic SLAM Graphs
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Learning Tactile Models for Factor Graph-based Estimation
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Distributed Client-Server Optimization for SLAM with Limited On-Device Resources
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Equality Constrained Linear Optimal Control With Factor Graphs
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Tactile SLAM: Real-time inference of shape and pose from planar pushing
inferred← citeshttps://doi.org/10.1109/icra48891.2023.10160381openalex-snapshot
Lighthouses and Global Graph Stabilization: Active SLAM for Low-compute, Narrow-FoV Robots
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SCORE: A Second-Order Conic Initialization for Range-Aided SLAM
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External Camera-Based Mobile Robot Pose Estimation for Collaborative Perception with Smart Edge Sensors
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A Hybrid Cable-Driven Robot for Non-Destructive Leafy Plant Monitoring and Mass Estimation using Structure from Motion
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Robust Incremental Smoothing and Mapping (riSAM)
inferred← citeshttps://doi.org/10.1109/icra48891.2023.10161522openalex-snapshot
Factor Graph Fusion of Raw GNSS Sensing with IMU and Lidar for Precise Robot Localization without a Base Station
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Visuo-Tactile Object Pose Estimation for a Multi-Finger Robot Hand With Low-Resolution in-Hand Tactile Sensing
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COIN-LIO: Complementary Intensity-Augmented LiDAR Inertial Odometry
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An Outlier-Robust GNSS-inertial-LiDAR Localization System
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Towards Efficient and Robust LiDAR-based 3D Mapping in Urban Environments
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Graphical State Space Model
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A Factor Graph Method for AUV Navigation in the Mobile Docking Progress
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Pose Graph Optimization for a MAV Indoor Localization Fusing 5GNR TOA with an IMU
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Comparison of FGO and KF for PDR-GNSS Fusion on Smartphone for Diverse Pedestrian Movements
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A Factor Graph Approach to Multi-camera Extrinsic Calibration on Legged Robots
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Information Sparsification in Visual-Inertial Odometry
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Virtual Occupancy Grid Map for Submap-based Pose Graph SLAM and Planning in 3D Environments
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Robust Sensor Fusion with Self-Tuning Mixture Models
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Flower Interaction Subsystem for a Precision Pollination Robot
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Online and Consistent Occupancy Grid Mapping for Planning in Unknown Environments
inferred← citeshttps://doi.org/10.1109/iros40897.2019.8968174openalex-snapshot
Outlier-Robust Spatial Perception: Hardness, General-Purpose Algorithms, and Guarantees
inferred← citeshttps://doi.org/10.1109/iros40897.2019.8968245openalex-snapshot
View management for lifelong visual maps
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Degeneracy-Aware Factors with Applications to Underwater SLAM
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Roboat II: A Novel Autonomous Surface Vessel for Urban Environments
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PillarFlow: End-to-end Birds-eye-view Flow Estimation for Autonomous Driving
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Factor Graph based 3D Multi-Object Tracking in Point Clouds
inferred← citeshttps://doi.org/10.1109/iros45743.2020.9341176openalex-snapshot
LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping
inferred← citeshttps://doi.org/10.1109/iros45743.2020.9341369openalex-snapshot
Collaborative Interaction Models for Optimized Human-Robot Teamwork
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Localization Safety Validation for Autonomous Robots
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Robot Calligraphy using Pseudospectral Optimal Control in Conjunction with a Novel Dynamic Brush Model
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Acoustic Localization and Communication Using a MEMS Microphone for Low-cost and Low-power Bio-inspired Underwater Robots
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Ground Encoding: Learned Factor Graph-based Models for Localizing Ground Penetrating Radar
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Consistent SLAM using Local Optimization with Virtual Prior Topologies
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Trajectory-Based SLAM for Indoor Mobile Robots with Limited Sensing Capabilities
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Optimization-Based VINS: Consistency, Marginalization, and FEJ
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GAPSLAM: Blending Gaussian Approximation and Particle Filters for Real-Time Non-Gaussian SLAM
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Multi-IMU Proprioceptive Odometry for Legged Robots
inferred← citeshttps://doi.org/10.1109/iros55552.2023.10342535openalex-snapshot
See What the Robot Can't See: Learning Cooperative Perception for Visual Navigation
inferred← citeshttps://doi.org/10.1109/iros58592.2024.10801643openalex-snapshot
BEVLoc: Cross-View Localization and Matching via Birds-Eye-View Synthesis
inferred← citeshttps://doi.org/10.1109/iros60139.2025.11246640openalex-snapshot
Collaborative Swarm Shape Reconstruction of Tumbling Space Targets via Decentralized Dynamic Factor Graph Optimization
inferred← citeshttps://doi.org/10.1109/itsc48978.2021.9565076openalex-snapshot
An Integrated Localization System with Fault Detection, Isolation and Recovery for Autonomous Vehicles
inferred← citeshttps://doi.org/10.1109/itsc48978.2021.9565092openalex-snapshot
Semantic Landmark-based HD Map Localization Using Sliding Window Max-Mixture Factor Graphs
inferred← citeshttps://doi.org/10.1109/iv55152.2023.10186548openalex-snapshot
M-LIO: Multi-lidar, multi-IMU odometry with sensor dropout tolerance
inferred← citeshttps://doi.org/10.1109/iv55156.2024.10588480openalex-snapshot
A Framework for Localization in a Ground Plan Map based on Radar Perception and Odometry Data
inferred← citeshttps://doi.org/10.1109/ivs.2019.8813847openalex-snapshot
Incrementally learned Mixture Models for GNSS Localization
inferred← citeshttps://doi.org/10.1109/ivs.2019.8814093openalex-snapshot
Graph Matching Pose SLAM based on Road Network Information
inferred← citeshttps://doi.org/10.1109/ivs.2019.8814118openalex-snapshot
3D Object Trajectory Reconstruction using Instance-Aware Multibody Structure from Motion and Stereo Sequence Constraints
inferred← citeshttps://doi.org/10.1109/jiot.2025.3603564openalex-snapshot
QE4DRaSLAM: Data-Augmented 4-D mmWave SLAM for Extremely Sparse Point Clouds
inferred← citeshttps://doi.org/10.1109/jiot.2026.3663438openalex-snapshot
AD-LIO: Adaptive Voxel LiDAR–Inertial Odometry Based on Scene Degradation Factor
inferred← citeshttps://doi.org/10.1109/joe.2019.2937946openalex-snapshot
Degeneracy-Aware Imaging Sonar Simultaneous Localization and Mapping
inferred← citeshttps://doi.org/10.1109/joe.2023.3265742openalex-snapshot
Tightly Coupled, Graph-Based DVL/IMU Fusion and Decoupled Mapping for SLAM-Centric Maritime Infrastructure Inspection
inferred← citeshttps://doi.org/10.1109/joe.2023.3286854openalex-snapshot
Combining DVL-INS and Laser-Based Loop Closures in a Batch Estimation Framework for Underwater Positioning
inferred← citeshttps://doi.org/10.1109/joe.2025.3624470openalex-snapshot
STERN: Simultaneous Trajectory Estimation and Relative Navigation for Autonomous Underwater Proximity Operations
inferred← citeshttps://doi.org/10.1109/jsen.2021.3056207openalex-snapshot
An Improved Variational Adaptive Kalman Filter for Cooperative Localization
inferred← citeshttps://doi.org/10.1109/jsen.2021.3119982openalex-snapshot
Fast and Accurate Initialization for Monocular Vision/INS/GNSS Integrated System on Land Vehicle
inferred← citeshttps://doi.org/10.1109/jsen.2021.3130282openalex-snapshot
LSPP: A Novel Path Planning Algorithm Based on Perceiving Line Segment Feature
inferred← citeshttps://doi.org/10.1109/jsen.2023.3260636openalex-snapshot
A High-Precision LiDAR-Inertial Odometry via Kalman Filter and Factor Graph Optimization
inferred← citeshttps://doi.org/10.1109/jsen.2023.3264782openalex-snapshot
A Dynamic Continuous Constrained Phase Factor Graph Optimization Method for GNSS Kinematic Precise Point Positioning
inferred← citeshttps://doi.org/10.1109/jsen.2024.3382336openalex-snapshot
A Hybrid-Dimensional Laser SLAM Framework for Indoor Quadruped Inspection Robots
inferred← citeshttps://doi.org/10.1109/jsen.2024.3416618openalex-snapshot
Magnetic Sensor Compensation Using Factor Graph Estimation
inferred← citeshttps://doi.org/10.1109/jsen.2025.3546627openalex-snapshot
Factor Graph-Based Tightly Coupled RTK/INS/LiDAR System With De-Drifting LiDAR Data Association in Urban Areas
inferred← citeshttps://doi.org/10.1109/jsen.2025.3563516openalex-snapshot
An Autonomous System for Multimodal Mapping of Sea Ice Fields From Ships
inferred← citeshttps://doi.org/10.1109/jsen.2025.3606342openalex-snapshot
Kalman Filtering-Enhanced Factor Graph Optimization for GNSS RTK in Complex Environment
inferred← citeshttps://doi.org/10.1109/jsen.2026.3700176openalex-snapshot
Advances and Challenges in Resilient Fusion Navigation Technology Based on Multisource PNT Information: A Review
inferred← citeshttps://doi.org/10.1109/jssc.2021.3134897openalex-snapshot
DPU: DAG Processing Unit for Irregular Graphs With Precision-Scalable Posit Arithmetic in 28 nm
inferred← citeshttps://doi.org/10.1109/jstars.2026.3723381openalex-snapshot
GNSS Precise Point Positioning Enhanced Mobile Laser Scanning Railway Point Cloud Registration
inferred← citeshttps://doi.org/10.1109/lcsys.2026.3706025openalex-snapshot
Finite-Trace Cellular Sheaves for Validation and Estimation of Hybrid Dynamical Systems
inferred← citeshttps://doi.org/10.1109/lra.2019.2891486openalex-snapshot
Through-Water Stereo SLAM With Refraction Correction for AUV Localization
inferred← citeshttps://doi.org/10.1109/lra.2019.2953859openalex-snapshot
Voxgraph: Globally Consistent, Volumetric Mapping Using Signed Distance Function Submaps
inferred← citeshttps://doi.org/10.1109/lra.2020.2967301openalex-snapshot
Multimodal Multispectral Imaging System for Small UAVs
inferred← citeshttps://doi.org/10.1109/lra.2020.2975769openalex-snapshot
Quantifying Robot Localization Safety: A New Integrity Monitoring Method for Fixed-Lag Smoothing
inferred← citeshttps://doi.org/10.1109/lra.2020.2979655openalex-snapshot
Robust Incremental State Estimation Through Covariance Adaptation
inferred← citeshttps://doi.org/10.1109/lra.2020.3010443openalex-snapshot
GeoFusion: Geometric Consistency Informed Scene Estimation in Dense Clutter
inferred← citeshttps://doi.org/10.1109/lra.2020.3010443.openalex-snapshot
GeoFusion: Geometric Consistency informed Scene Estimation in Dense Clutter.
inferred← citeshttps://doi.org/10.1109/lra.2020.3032067openalex-snapshot
Landmark Augmentation for Mobile Robot Localization Safety
inferred← citeshttps://doi.org/10.1109/lra.2021.3056380openalex-snapshot
Unified Multi-Modal Landmark Tracking for Tightly Coupled Lidar-Visual-Inertial Odometry
inferred← citeshttps://doi.org/10.1109/lra.2021.3130648openalex-snapshot
Direct Sparse Odometry With Planes
inferred← citeshttps://doi.org/10.1109/lra.2021.3137910openalex-snapshot
Balancing the Budget: Feature Selection and Tracking for Multi-Camera Visual-Inertial Odometry
inferred← citeshttps://doi.org/10.1109/lra.2022.3147012openalex-snapshot
LaneMatch: A Practical Real-Time Localization Method Via Lane-Matching
inferred← citeshttps://doi.org/10.1109/lra.2022.3151404openalex-snapshot
WOLF: A Modular Estimation Framework for Robotics Based on Factor Graphs
inferred← citeshttps://doi.org/10.1109/lra.2022.3171726openalex-snapshot
Making Parameterization and Constrains of Object Landmark Globally Consistent via SPD(3) Manifold
inferred← citeshttps://doi.org/10.1109/lra.2022.3180427openalex-snapshot
Jacobian Computation for Cumulative B-Splines on SE(3) and Application to Continuous-Time Object Tracking
inferred← citeshttps://doi.org/10.1109/lra.2022.3181409openalex-snapshot
Simultaneous Localization and Mapping: Through the Lens of Nonlinear Optimization
inferred← citeshttps://doi.org/10.1109/lra.2022.3186501openalex-snapshot
Online Kinematic Calibration for Legged Robots
inferred← citeshttps://doi.org/10.1109/lra.2022.3189786openalex-snapshot
Nested Sampling for Non-Gaussian Inference in SLAM Factor Graphs
inferred← citeshttps://doi.org/10.1109/lra.2022.3189824openalex-snapshot
Continuous-Time Factor Graph Optimization for Trajectory Smoothness of GNSS/INS Navigation in Temporarily GNSS-Denied Environments
inferred← citeshttps://doi.org/10.1109/lra.2022.3191164openalex-snapshot
AUV-Assisted Diver Navigation
inferred← citeshttps://doi.org/10.1109/lra.2022.3216938openalex-snapshot
Discrete-Continuous Smoothing and Mapping
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