GVINS: Tightly Coupled GNSS-Visual-Inertial Fusion for Smooth and Consistent State Estimation - Cao, Shaozu; Lu, Xiuyuan; Shen, Shaojie (IEEE transactions on robotics, 2022)
Keywords: Clocks; Codes; Doppler effect; Drift; Global navigation satellite system; Indoor environments; Inertial fusion (reactor); Localization; Optimization; Receivers; Robustness; Satellites; sensor fusion; simultaneous localization and mapping (SLAM); State estimation; Systems design; Visualization