A robust online extrinsic calibration method for GNSS-RTK and IMU system and vehicle setups. - Peng Wang; Qingyang Xu; Siyun Yao; Xiangfei Wu; Qunli Zhang; Ruichen Lv; Shiming Liu; Yamin Li; Hui Fang; Zheng Hu 002 (ISSREW, 2023)