State estimation in GPS-denied environments

hardsubjective

Asked in interviews

How do you do state estimation (localization) when GPS is unavailable or unreliable — indoors, in tunnels, urban canyons, underground, or under jamming? What sensors and techniques bridge the gap, and how do you bound the inevitable drift?

Indoors, in a tunnel, or an urban canyon the robot gets no satellite fix — it must estimate its state from onboard (IMU, lidar, vision) sensors alone.

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