@article{yin2023sky,
  title={Sky-GVINS: a sky-segmentation aided GNSS-Visual-Inertial system for robust navigation in urban canyons},
  author={Yin, Jie and Li, Tao and Yin, Hao and Yu, Wenxian and Zou, Danping},
  journal={Geo-spatial Information Science},
  pages={1--11},
  year={2023},
  publisher={Taylor \& Francis}
}