Preprint Open access
SeA-RVINS: Semantic-Aware Tightly Coupled RTK-Visual-Inertial System with Correlation-Preserving Robust Estimation for Urban Navigation
Reliable absolute pose estimation in urban environments is undermined by outlier measurements and incorrect temporal associations that can persist in tightly coupled estimators. Global Navigation Satellite System (GNSS) observations provide globally referenced measurements but are prone to multipath effects. Visual-ine …