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About this paper
Radu-Andrei Cioaca, Cristian Rusu, Paul Irofti, Gianluca Caparra, Andrei-Alexandru Marinache, Florin Stoican
RTFGO adapts factor-graph optimization to provide positions during GNSS outages, propagating motion from IMU readings and incrementally incorporating later GNSS fixes. It limits IMU-only propagation to 4 seconds, yielding more available estimates but lower accuracy. On Loop 2 of a Hong Kong urban-canyon dataset, 3D RMSE was 11.83 m versus 9.33 m for batch smoothing; results cover two loops of one route.
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