The Factor Graph Optimization module in the GREAT software specializes in RTK and tightly-coupled RTK/INS solutions.Multi-sensors-integration is planned for future updates.
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Jul 23, 2026 - C++
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factor-graph-optimization
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Implementation of the method in "Learning Covariances for Estimation with Constrained Bilevel Optimization"
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Jun 25, 2026 - Python
Zero-dependency Python reproduction of the GNSS/INS FGO vs EKF ablation experiments in Wen et al. (2021), with three extension experiments on iteration count and robust kernels.
navigation gnss sensor-fusion reproduction ins extended-kalman-filter factor-graph-optimization robust-kernel
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Oct 7, 2026 - Python
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