Sky-GVIO: an enhanced GNSS/INS/Vision navigation with FCN-based sky-segmentation in urban canyon

arXiv:2404.11070v1 Announce Type: new
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