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

> Research article (IEEE Transactions on Robotics, 2022) · cited 342× · AI/ML

**Wikidata**: [openalex:W3138764046](https://www.wikidata.org/wiki/openalex:W3138764046)  
**Source**: https://4ort.xyz/entity/gvins-tightly-coupled-gnssvisualinertial-fusion-for-smooth-and-consistent-state-estimation