| SLAM | Simultaneous localization and mapping |
| EKF | Extended Kalman filtering |
| RBPF | Rao-Blackwellized particle filter |
| GP | Gaussian process |
| IMU | Inertial measurement unit |
| ZUPT | Zero-velocity upate |
| RMSE | Root mean squared error |
| GNSS | Global navigation satelite system |
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