GVINS: Tightly Coupled GNSS-Visual-Inertial Fusion for Smooth and Consistent State Estimation

Shaozu Cao, Xiuyuan Lu, Shaojie Shen

Visual-Inertial odometry (VIO) is known to suffer from drifting especially over long-term runs. In this paper, we present GVINS, a non-linear optimization based system that tightly…