标题： 查看以定位：用于GNSS挑战环境的基于视觉的多感官导航与三维数字地图 显示英文标题

标题： Look to Locate: Vision-Based Multisensory Navigation with 3-D Digital Maps for GNSS-Challenged Environments

摘要： 在全球导航卫星系统（GNSS）不可用的环境中，如室内停车场或密集的城市峡谷，实现准确且稳健的车辆定位仍然是一个重大挑战。 本文提出了一种成本效益高的基于视觉的多传感器导航系统，该系统结合了单目深度估计、语义过滤和与三维数字地图的视觉地图注册（VMR）。 在真实世界中的室内和室外驾驶场景中进行了大量测试，证明了所提出系统的有效性，在室内实现了92%的亚米级精度，室外超过了80%，水平定位和航向的平均均方根误差分别约为0.98米和1.25{\deg }。 与所检查的基线相比，所提出的解决方案在各种条件下显著减少了漂移并提高了鲁棒性，在定位精度方面平均提高了约88%。 这项工作突显了将成本效益高的单目视觉系统与三维地图相结合，在陆地车辆中实现可扩展、无需GNSS的导航的潜力。 显示英文摘要

摘要： In Global Navigation Satellite System (GNSS)-denied environments such as indoor parking structures or dense urban canyons, achieving accurate and robust vehicle positioning remains a significant challenge. This paper proposes a cost-effective, vision-based multi-sensor navigation system that integrates monocular depth estimation, semantic filtering, and visual map registration (VMR) with 3-D digital maps. Extensive testing in real-world indoor and outdoor driving scenarios demonstrates the effectiveness of the proposed system, achieving sub-meter accuracy of 92% indoors and more than 80% outdoors, with consistent horizontal positioning and heading average root mean-square errors of approximately 0.98 m and 1.25 {\deg}, respectively. Compared to the baselines examined, the proposed solution significantly reduced drift and improved robustness under various conditions, achieving positioning accuracy improvements of approximately 88% on average. This work highlights the potential of cost-effective monocular vision systems combined with 3D maps for scalable, GNSS-independent navigation in land vehicles.