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Sky-GVIO: an enhanced GNSS/INS/Vision navigation with FCN-based sky-segmentation in urban canyon
April 18, 2024, 4:44 a.m. | Jingrong Wang, Bo Xu, Ronghe Jin, Shoujian Zhang, Kefu Gao, Jingnan Liu
cs.CV updates on arXiv.org arxiv.org
Abstract: Accurate, continuous, and reliable positioning is a critical component of achieving autonomous driving. However, in complex urban canyon environments, the vulnerability of a stand-alone sensor and non-line-of-sight (NLOS) caused by high buildings, trees, and elevated structures seriously affect positioning results. To address these challenges, a sky-view images segmentation algorithm based on Fully Convolutional Network (FCN) is proposed for GNSS NLOS detection. Building upon this, a novel NLOS detection and mitigation algorithm (named S-NDM) is extended …
arxiv cs.cv eess.sp navigation segmentation type urban vision
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