Relatively Lazy: Indoor-Outdoor Navigation Using Vision and GNSS. - Benjamin Congram; Timothy D. Barfoot (CRV, 2021)

Experimental Comparison of Visual and Single-Receiver GPS Odometry. - Benjamin Congram; Timothy D. Barfoot (CoRR, 2021)

Field Testing and Evaluation of Single-Receiver GPS Odometry for Use in Robotic Navigation. - Benjamin Congram; Timothy D. Barfoot (Field Robotics, 2022)