# R²-GVIO: A Robust, Real-Time GNSS-Visual-Inertial State Estimator in Urban Challenging Environments

> Research article (IEEE Internet of Things Journal, 2024) · cited 13× · AI/ML

**Wikidata**: [openalex:W4392979799](https://www.wikidata.org/wiki/openalex:W4392979799)  
**Source**: https://4ort.xyz/entity/r2-gvio-a-robust-real-time-gnss-visual-inertial-state-estimator-in-urban-challenging-environments