SEAMLESS REALTIME LANE LEVEL VEHICULAR NAVIGATION IN GNSS CHALLENGING ENVIRONMENTS USING A RTK GNSS/IMU/VINS INTEGRATION SCHEME - Chiang, K.-W.; Lin, C.-X.; Tsai, S.; Huang, C.-H.; Tsai, M.-L. (Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., 2023)