Fig. 1. Schematic of the monocular vision GNSS fusion SLAM system framework

Fig. 2. Schematic of the back-end graph optimization model

Fig. 3. Schematic of several images in the KITTI sequence

Fig. 4. Schematic of the closed-loop map comparison without the recovery of sequence 03

Fig. 5. Schematic of sequence 00 trajectory and error comparison

Fig. 6. Schematic of sequence 02 trajectory and error comparison

Fig. 7. Schematic of sequence 05 trajectory and error comparison

Fig. 8. Schematic of sequence 07 trajectory and error comparison