@article{twostagegnssoutlierdetectionforfactorgra,
  title = {Two stage GNSS outlier detection for factor graph optimization based GNSS-RTK/INS/odometer fusion},
  author = {Baoshan Song and Penggao Yan and Xiao Xia and Yihan Zhong and Weisong Wen and Li-Ta Hsu},
  year = {2025},
  eprint = {2510.00524},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2510.00524},
}