Before revision: Fusing vision, Inertial Measurement Unit (IMU) and Global Navigation Satellite System (GNSS) information is a promising solution for accurate global positioning in complex urban scenes, because of the complementarity of the different sensors. Unlike the loose coupling approaches and the EKF-based approaches in the literature, we propose an optimization-based visual-inertial SLAM tightly coupled with raw GNSS measurements, including pseudoranges and Doppler shift, which is the first of such approaches to our knowledge.
After revision: Unlike loose coupling approaches and the EKF-based approaches in the literature, we propose an optimization-based visual-inertial SLAM tightly coupled with raw GNSS measurements, including pseudoranges and Doppler shift, which is the first of such approaches to our knowledge.