SeA-RVINS: Semantic-Aware Tightly Coupled RTK-Visual-Inertial System with Correlation-Preserving Robust Estimation for Urban Navigation

arXiv:2609.30814 · cs.RO, cs.SY, eess.SY · Submitted 2026-09-25 · Read on arXiv

cs.RO, cs.SY, eess.SY

Submitted: 2026-09-25

Updated: 2026-09-25

Code: https://github.com/borglab/gtsam

Project page: https://semantic-rvins.github.io/Abstract

Terminology

Accuracy — 10× in this paper · explained in 1 episode
Robustness — 5× in this paper · explained in 5 episodes
Dynamic Covariance Scaling — 3× in this paper
Consistency — 2× in this paper · explained in 3 episodes
Feature Extraction — 2× in this paper · explained in 2 episodes
Global Navigation Satellite System — 2× in this paper
Ablation — 1× in this paper · explained in 1 episode
Adaptation — 1× in this paper · explained in 1 episode
Aggregation — 1× in this paper · explained in 1 episode
Earth-Centered Earth-Fixed — 1× in this paper
Failure Modes — 1× in this paper · explained in 3 episodes
Inertial Measurement Unit — 1× in this paper
Integer Ambiguity Resolution — 1× in this paper
Optical Flow — 1× in this paper · explained in 2 episodes
RTK Visual-Inertial Navigation System — 1× in this paper
Real-time Kinematic — 1× in this paper
Root Mean Square Error — 1× in this paper
Transformer — 1× in this paper · explained in 2 episodes
Verification — 1× in this paper · explained in 2 episodes

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