TAS LAB Trustworthy AI and Autonomous Systems Laboratory

Trustworthy AI and Autonomous Systems Lab

Publications

Journal and conference papers

The Hong Kong Polytechnic University Department of Aeronautical and Aviation Engineering

Publications

Papers on trustworthy positioning, multi-sensor fusion, safe planning and control, and embodied AI. Full list on Google Scholar.

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2026 (19)

Online IMU-Odometer Calibration Using GNSS Measurements for Autonomous Ground Vehicle Localization
journal Online IMU-Odometer Calibration Using GNSS Measurements for Autonomous Ground Vehicle Localization
Baoshan Song, Xiao Xia, Penggao Yan, Yihan Zhong, Weisong Wen, Li-Ta Hsu
IEEE Transactions on Intelligent Transportation Systems  ·  Jul 2026
paper
gnss sensor-fusion extrinsic-calibration factor-graph-optimization autonomous-vehicles
Fisheye Image GNSS Based Multimodal Learning for GNSS NLOS Multipath Correction: Enhancing Vehicle Positioning in Urban Canyons for Autonomous Driving
journal Fisheye Image/GNSS Based Multimodal Learning for GNSS NLOS/Multipath Correction: Enhancing Vehicle Positioning in Urban Canyons for Autonomous Driving
Runzhi Hu, Jian Liu, Yihan Zhong, Weisong Wen, Ming Xia, Yulong Huang
IEEE Transactions on Vehicular Technology  ·  Jun 2026
D2IO: Diffusion-Based Deep Inertial Odometry for Pedestrian Indoor Localization
journal D2IO: Diffusion-Based Deep Inertial Odometry for Pedestrian Indoor Localization
Yingying Wang, Shaoting Qiu, Yulong Huang, Weisong Wen
IEEE Transactions on Industrial Informatics  ·  May 2026
paper
diffusion-model inertial-navigation internet-of-things velocity-estimation
Wall Inspector: Quadrotor control in wall-proximity through model compensation
journal Wall Inspector: Quadrotor control in wall-proximity through model compensation
Peiwen Yang, Weisong Wen, Runqiu Yang, Yingming Chen, Cheuk Chi Tsang
Aerospace Science and Technology  ·  May 2026
paper
ducted-rotor model-predictive-control-(mpc) quadrotor wall-proximity-effect trajectory-tracking
R sup 2 sup TT: High-Accuracy 3D Localization Using Ray-Tracing-Based Wi-Fi RTT Virtual Fingerprints for Challenging Scenarios
journal R 2 TT: High-Accuracy 3D Localization Using Ray-Tracing-Based Wi-Fi RTT Virtual Fingerprints for Challenging Scenarios
Xin Wang, Xikun Liu, Zhen Lyu, Ruijie Xu, Weisong Wen
IEEE Transactions on Mobile Computing  ·  May 2026
paper
indoor-localization wi-fi-rtt virtual-fingerprinting ray-tracing deep-learning 3d-localization
From FSD to FSC: Enabling Full Smart-Communication in Autonomous Vehicles Through Full Self-Driving Models
conference From FSD to FSC: Enabling Full Smart-Communication in Autonomous Vehicles Through Full Self-Driving Models
Zhicheng Wang, Shihan Zhao, Donghui Dai, Lei Yang, Feng Huang, Li-Ta Hsu, Weisong Wen
IEEE INFOCOM 2026 - IEEE Conference on Computer Communications  ·  May 2026
paper
RTT-LIO: A Wi-Fi RTT-Aided LiDAR-Inertial Odometry via Tightly-Coupled Factor Graph Optimization in Complex Scenes
journal RTT-LIO: A Wi-Fi RTT-Aided LiDAR-Inertial Odometry via Tightly-Coupled Factor Graph Optimization in Complex Scenes
Ruijie Xu, Xikun Liu, Xin Wang, Weisong Wen, Yulong Huang
IEEE Internet of Things Journal  ·  Mar 2026
paper
factor-graph-optimization-(fgo) lidar-inertial-odometry-(lio) sensor-fusion wi-fi-round-trip-time-(rtt).
Orthogonal Ray Projection: A Tangent-Space Visual Measurement Model for Robust Visual-Inertial Odometry
journal Orthogonal Ray Projection: A Tangent-Space Visual Measurement Model for Robust Visual-Inertial Odometry
Bing Han, Tuan Li, Yuezu Lv, Weisong Wen, Zhipeng Wang, Chuang Shi
IEEE Robotics and Automation Letters  ·  Mar 2026
paper
visual-inertial-odometry orthogonal-ray projection tangent-space-parameterization estimator-consistency geometry-linearity.
EIRM-RL: Epistemic Integrity Risk Monitoring Inspired Safe Reinforcement Learning for Trustworthy Autonomous Navigation
journal EIRM-RL: Epistemic Integrity Risk Monitoring Inspired Safe Reinforcement Learning for Trustworthy Autonomous Navigation
Yuanyuan Zhang, Yingying Wang, Weisong Wen
IEEE Internet of Things Journal  ·  Jan 2026
Watch Your Position: Neural Inertial Localization With a Single Wrist-Worn Device
journal Watch Your Position: Neural Inertial Localization With a Single Wrist-Worn Device
Shiyu Bai, Yizhi Lyu, Zhen Lyu, Ruijie Xu, Xin Wang, Weisong Wen
IEEE Transactions on Mobile Computing  ·  Jan 2026
paper
smartwatch inertial-odometry indoor-localization deep-learning imu
Cauchy Gaussian Overbound for Heavy-Tailed GNSS Measurement Errors
journal Cauchy–Gaussian Overbound for Heavy-Tailed GNSS Measurement Errors
Zhengdao Li, Penggao Yan, Weisong Wen, , Li-Ta Hsu
NAVIGATION: Journal of the Institute of Navigation  ·  Jan 2026
paper
cauchy-distribution global-navigation-satellite-systems heavy-tailed-distributions overbounding-techniques
POPL-SLAM: A Pose-Only Representation-Based Visual-Inertial SLAM With Point and Structural Line Features
journal POPL-SLAM: A Pose-Only Representation-Based Visual-Inertial SLAM With Point and Structural Line Features
Tuan Li, Bing Han, Dayu Yan, Weisong Wen, Zhipeng Wang, Chuang Shi
IEEE Transactions on Aerospace and Electronic Systems  ·  Jan 2026
journal Outlier-Aware LiDAR–IMU–UWB Integration with NLOS Mitigation and Anchor Self-Calibration in Complex Scenarios
Naigui Xiao, Weisong Wen, Lu Bai, Xiangru Wang, Jiahao Hu, Qi Zhang, Jianhao Jiao, Zhen Lyu, Feng Huang
IEEE Transactions on Instrumentation and Measurement  ·  Jan 2026
Online IMU-Odometer Calibration Using GNSS Measurements for Autonomous Ground Vehicle Localization
journal Online IMU-Odometer Calibration Using GNSS Measurements for Autonomous Ground Vehicle Localization
Baoshan Song, Xiao Xia, Penggao Yan, Yihan Zhong, Weisong Wen, Li-Ta Hsu
IEEE Transactions on Intelligent Transportation Systems  ·  Jan 2026
journal Humanoid Robot Locomotion in Unstructured Environments: A Survey and Perspectives
Yifeng Cao, Junpeng He, Bingxian Li, Songchen Xu, Xiaowen Tao, Lili Fan, Weisong Wen, Dongpu Cao
IEEE Robotics & Automation Magazine  ·  Jan 2026
journal Edge-AI Driven Low-Altitude Security: A Robust UAV Tracking System With Multi-Scale Attention And Adaptive Motion Modeling
Jiale Wang, Jingyi Cai, Ming Xia, Weisong Wen, Fanchen Meng, Wu Chen, Chuang Shi
IEEE Transactions on Vehicular Technology  ·  Jan 2026
Cauchy-Gaussian Overbound for Heavy-tailed GNSS Measurement Errors
preprint Cauchy-Gaussian Overbound for Heavy-tailed GNSS Measurement Errors
Zhengdao Li, Penggao Yan, Weisong Wen, Li-Ta Hsu
arXiv  ·  Jan 2026
An Enhanced-Adaptive MEMS-Based SINS OD Integrated Navigation Method Assisted by Prior Feature Domains Association
journal An Enhanced-Adaptive MEMS-Based SINS/OD Integrated Navigation Method Assisted by Prior Feature Domains Association
Siyuan Du, Lina Gao, Yulong Huang, Weisong Wen, Yonggang Zhang
IEEE Transactions on Instrumentation and Measurement  ·  Jan 2026
journal Adaptive Robust Safe Policy Optimization with Distributional Risk Modeling for Uncertainty-aware Autonomous Navigation
Yuanyuan Zhang, Yingying Wang, Weisong Wen
IEEE Transactions on Automation Science and Engineering  ·  Jan 2026

2025 (35)

UrbanV2X: A Multisensory Vehicle-Infrastructure Dataset for Cooperative Navigation in Urban Areas
preprint UrbanV2X: A Multisensory Vehicle-Infrastructure Dataset for Cooperative Navigation in Urban Areas
Qijun Qin, Ziqi Zhang, Yihan Zhong, Feng Huang, Xikun Liu, …, Wei Hu, Dongzhe Su, Jun Zhang, Hoi-Fung Ng, Weisong Wen
arXiv  ·  Dec 2025
paper
code
multisensor-fusion roadside-infrastructure slam autonomous-driving
Tightly Joined Positioning and Control Model for Unmanned Aerial Vehicles Based on Factor Graph Optimization
journal Tightly Joined Positioning and Control Model for Unmanned Aerial Vehicles Based on Factor Graph Optimization
Peiwen Yang, Weisong Wen, Shiyu Bai, Li-Ta Hsu
IEEE Transactions on Vehicular Technology  ·  Dec 2025
UrbanV2X: A Multisensory Vehicle-Infrastructure Dataset for Cooperative Navigation in Urban Areas
conference UrbanV2X: A Multisensory Vehicle-Infrastructure Dataset for Cooperative Navigation in Urban Areas
Qijun Qin, Ziqi Zhang, Yihan Zhong, Feng Huang, Xikun Liu, …, Wei Hu, Dongzhe Su, Jun Zhang, Hoi-Fung Ng, Weisong Wen
2025 IEEE 28th International Conference on Intelligent Transportation Systems (ITSC)  ·  Nov 2025
Integrity-Monitored Deep Reinforcement Learning for Safe and Robust Autonomous Navigation
conference Integrity-Monitored Deep Reinforcement Learning for Safe and Robust Autonomous Navigation
Yuanyuan Zhang, Yingying Wang, Baoshan Song, Weisong Wen
2025 IEEE 28th International Conference on Intelligent Transportation Systems (ITSC)  ·  Nov 2025
Enhancing LEO-GNSS Positioning in Urban Canyons: A Factor Graph Optimization Approach with StarLink Simulations
conference Enhancing LEO-GNSS Positioning in Urban Canyons: A Factor Graph Optimization Approach with StarLink Simulations
Yixin Gao, Weisong Wen, Xikun Liu, Feng Huang, Jiahao Hu, Dongzhe Su
2025 IEEE 28th International Conference on Intelligent Transportation Systems (ITSC)  ·  Nov 2025
Roadside GNSS Aided Multi-Sensor Integrated System for Vehicle Positioning in Urban Areas
conference Roadside GNSS Aided Multi-Sensor Integrated System for Vehicle Positioning in Urban Areas
Feng Huang, Yihan Zhong, Hang Chen, Dongzhe Su, Jin Wu, Weisong Wen, Li-Ta Hsu
2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  ·  Oct 2025
Online IMU-odometer Calibration using GNSS Measurements for Autonomous Ground Vehicle Localization
preprint Online IMU-odometer Calibration using GNSS Measurements for Autonomous Ground Vehicle Localization
Baoshan Song, Xiao Xia, Penggao Yan, Yihan Zhong, Weisong Wen, Li-Ta Hsu
arXiv  ·  Oct 2025
paper
Learning Safe, Optimal, and Real-Time Flight Interaction With Deep Confidence-Enhanced Reachability Guarantee
journal Learning Safe, Optimal, and Real-Time Flight Interaction With Deep Confidence-Enhanced Reachability Guarantee
Yuanyuan Zhang, Yingying Wang, Penggao Yan, Weisong Wen
IEEE Transactions on Intelligent Transportation Systems  ·  Oct 2025
paper
deep-reinforcement-learning deep-confidenceenhanced-reachability-guarantees joint-planning-and-control unmanned-aerial-vehicles
Integrated Planning and Control on Manifolds: Factor Graph Representation and Toolkit
preprint Integrated Planning and Control on Manifolds: Factor Graph Representation and Toolkit
Peiwen Yang, Weisong Wen, Runqiu Yang, Yuanyuan Zhang, Jiahao Hu, Yingming Chen, Naigui Xiao, Jiaqi Zhao
arXiv  ·  Oct 2025
paper
Two stage GNSS outlier detection for factor graph optimization based GNSS-RTK INS odometer fusion
preprint Two stage GNSS outlier detection for factor graph optimization based GNSS-RTK/INS/odometer fusion
Baoshan Song, Penggao Yan, Xiao Xia, Yihan Zhong, Weisong Wen, Li-Ta Hsu
arXiv  ·  Oct 2025
paper
Wall Inspector: Quadrotor Control in Wall-proximity Through Model Compensation
preprint Wall Inspector: Quadrotor Control in Wall-proximity Through Model Compensation
Peiwen Yang, Weisong Wen, Runqiu Yang, Yingming Chen, Cheuk Chi Tsang
arXiv  ·  Sep 2025
paper
Certifiably Optimal Doppler Positioning using Opportunistic LEO Satellites
preprint Certifiably Optimal Doppler Positioning using Opportunistic LEO Satellites
Baoshan Song, Weisong Wen, Qi Zhang, Bing Xu, Li-Ta Hsu
arXiv  ·  Sep 2025
paper
leo-satellite doppler-positioning signal-of-opportunity convex-optimization semidefinite-programming
Unified Sufficient Conditions for Exact Convex Relaxation of Nonconvex Optimal Control Problems
journal Unified Sufficient Conditions for Exact Convex Relaxation of Nonconvex Optimal Control Problems
Runqiu Yang, Weisong Wen, Peiwen Yang, Zichen Zhao, Fengtianyi Huang
IEEE Transactions on Aerospace and Electronic Systems  ·  Sep 2025
optimal-control convex-relaxation trajectory-planning convex-optimization mars-landing
3D LiDAR Aided GNSS NLOS Correction by Direction-of-Arrival Estimation Using Doppler Measurements in Urban Canyons
journal 3D LiDAR Aided GNSS NLOS Correction by Direction-of-Arrival Estimation Using Doppler Measurements in Urban Canyons
Xikun Liu, Weisong Wen, Liyuan Zhang, Li-Ta Hsu
IEEE Transactions on Intelligent Transportation Systems  ·  Aug 2025
3d-lidar global-navigation-satellite-system-(gnss) perception-aided-integration nlos-correction doppler-measurement-model geometry-distribution urban-canyons
Learning-Based Wifi-IMU Fusion for Unconstrained Pedestrian Indoor Localization
conference Learning-Based Wifi-IMU Fusion for Unconstrained Pedestrian Indoor Localization
Yingying Wang, Yulong Huang, Ming Xia, Weisong Wen
2025 44th Chinese Control Conference (CCC)  ·  Jul 2025
An Efficient Detector for Faulty GNSS Measurements Detection With Non-Gaussian Noises
preprint An Efficient Detector for Faulty GNSS Measurements Detection With Non-Gaussian Noises
Penggao Yan, Baoshan Song, Xiao Xia, Weisong Wen, Li-Ta Hsu
arXiv  ·  Jul 2025
paper
faulty-gnss-measurements non-gaussian-noise
Safety-Quantifiable Planar-Feature-Based LiDAR Localization With a Prior Map for Intelligent Vehicles in Urban Scenarios
journal Safety-Quantifiable Planar-Feature-Based LiDAR Localization With a Prior Map for Intelligent Vehicles in Urban Scenarios
Jiachen Zhang, Xikun Liu, Weisong Wen, Li-Ta Hsu
IEEE Transactions on Intelligent Vehicles  ·  Jul 2025
paper
3d-lidar non-convexity planar-features safety-quantifiable-localization urban-canyons
Safety-Quantifiable Line Feature-Based Monocular Visual Localization With 3D Prior Map
journal Safety-Quantifiable Line Feature-Based Monocular Visual Localization With 3D Prior Map
Xi Zheng, Weisong Wen, Li-Ta Hsu
IEEE Transactions on Intelligent Transportation Systems  ·  Jun 2025
paper
code
safety-quantification state-estimation visual-localization prior-map outlier-rejection protection-level
Continuous Error Map-Aided Adaptive Multisensor Integration for Connected Autonomous Vehicles in Urban Scenarios
journal Continuous Error Map-Aided Adaptive Multisensor Integration for Connected Autonomous Vehicles in Urban Scenarios
Feng Huang, Weisong Wen, Guohao Zhang, Dongzhe Su, Yulong Huang
IEEE Transactions on Instrumentation and Measurement  ·  May 2025
paper
code
continuous-error-map c-v2x multi-sensor-integrated-positioning urban-scenarios
Self-Attention-Enhanced PSW-LSTM for 3-D Indoor Pedestrian Positioning With Integrated Wi-Fi, Magnetometer, and Barometer Sensors
journal Self-Attention-Enhanced PSW-LSTM for 3-D Indoor Pedestrian Positioning With Integrated Wi-Fi, Magnetometer, and Barometer Sensors
Zhanpeng Zhang, Jiale Wang, Ming Xia, Chuang Shi, Weisong Wen, Deyou Zhang
IEEE Transactions on Instrumentation and Measurement  ·  May 2025
paper
3-d-indoor-positioning multisource-sensors-fusion rapid-fingerprint-database-establishment self-attention-enhanced-presequence-warmup-long-short-term-memory(psw-lstm) smartphone
Urban GNSS Positioning for Consumer Electronics: 3D Mapping and Advanced Signal Processing
journal Urban GNSS Positioning for Consumer Electronics: 3D Mapping and Advanced Signal Processing
Jiale Wang, Ming Xia, Deyou Zhang, Weisong Wen, Wu Chen, Chuang Shi
IEEE Transactions on Consumer Electronics  ·  May 2025
Subspace-Based Adaptive GMM Error Modeling for Fault-Aware Pseudorange-Based Positioning in Urban Canyons
journal Subspace-Based Adaptive GMM Error Modeling for Fault-Aware Pseudorange-Based Positioning in Urban Canyons
Penggao Yan, Xiao Xia, Michele Brizzi, Weisong Wen, Li-Ta Hsu
IEEE Transactions on Intelligent Vehicles  ·  May 2025
paper
cubature-kalman-filter inertial-sensor nonlinearity pedestrian-navigation zero-velocity-(zv)-detection
Online Dynamic Model Calibration for Reliable Control of Quadrotor Based on Factor Graph Optimization
journal Online Dynamic Model Calibration for Reliable Control of Quadrotor Based on Factor Graph Optimization
Peiwen Yang, Weisong Wen, Shiyu Bai, Jiahao Hu
IEEE Transactions on Aerospace and Electronic Systems  ·  May 2025
paper
code
artificial-intelligence deep-learning gnss rtklib
Paired Cauchy-Gaussian overbound for not symmetric unimodal heavy-tailed distributions
conference Paired Cauchy-Gaussian overbound for not symmetric unimodal heavy-tailed distributions
Zhengdao Li, Penggao Yan, Weisong Wen, Li-Ta Hsu
2025 IEEE/ION Position, Location and Navigation Symposium (PLANS)  ·  Apr 2025
Certifiably Optimal Satellite Orbit Determination Based on Doppler Measurements for Low-Earth-Orbit Satellites
conference Certifiably Optimal Satellite Orbit Determination Based on Doppler Measurements for Low-Earth-Orbit Satellites
Baoshan Song, Weisong Wen, Li-Ta Hsu
2025 IEEE/ION Position, Location and Navigation Symposium (PLANS)  ·  Apr 2025
pyrtklib: An Open-Source Package for Tightly Coupled Deep Learning and GNSS Integration for Positioning in Urban Canyons
journal pyrtklib: An Open-Source Package for Tightly Coupled Deep Learning and GNSS Integration for Positioning in Urban Canyons
Runzhi Hu, Penghui Xu, Yihan Zhong, Weisong Wen
IEEE Transactions on Intelligent Transportation Systems  ·  Apr 2025
paper
code
artificial-intelligence deep-learning gnss rtklib
Urban GNSS Positioning for Consumer Electronics: 3D Mapping and Advanced Signal Processing
journal Urban GNSS Positioning for Consumer Electronics: 3D Mapping and Advanced Signal Processing
Jiale Wang, Ming Xia, Deyou Zhang, Weisong Wen, Wu Chen, Chuang Shi
IEEE Transactions on Consumer Electronics  ·  Mar 2025
paper
consumer-electronics gnss smartphones 3d-building-models accurate-positioning urban-navigation stochastic-modeling signal-processing
Fault Detection Algorithm for Gaussian Mixture Noises: An Application in Lidar IMU Integrated Localization Systems
journal Fault Detection Algorithm for Gaussian Mixture Noises: An Application in Lidar/IMU Integrated Localization Systems
Penggao Yan, Zhengdao Li, Feng Huang, Weisong Wen, Li-Ta Hsu
NAVIGATION: Journal of the Institute of Navigation  ·  Mar 2025
paper
2d-lidar/imu-based-localization chi-squared-test ekf fault-detection gaussian-mixture-model non-gaussian-noise
Multisensor Plug-and-Play Navigation Based on Resilient Information Filter
journal Multisensor Plug-and-Play Navigation Based on Resilient Information Filter
Qian Meng, Chang Su, Yingying Jiang, Weisong Wen, Xiaolin Meng
IEEE Sensors Journal  ·  Feb 2025
paper
asynchronous-information information-filter-(if) multisensor-integration plug-and-play resilient-navigation
journal Multiple Faults Isolation for Multiconstellation GNSS Positioning Through Incremental Expansion of Consistent Measurements
Penggao Yan, Yingjie Hu, Welson Wen, Li-Ta Hsu
IEEE Sensors Journal  ·  Feb 2025
Tightly-Coupled Visual Inertial Map Integration With Observability Analysis for Reliable Localization of Intelligent Vehicles
journal Tightly-Coupled Visual/Inertial/Map Integration With Observability Analysis for Reliable Localization of Intelligent Vehicles
Xi Zheng, Weisong Wen, Li-Ta Hsu
IEEE Transactions on Intelligent Vehicles  ·  Feb 2025
paper
visual-inertial-odometry-(vio) 3d-prior-map line-feature observability-analysis
A Novel Lie Group-Based Reliable IMM Estimation Method for SINS GNSS OD NHC Integrated Navigation in Complex Environments
journal A Novel Lie Group-Based Reliable IMM Estimation Method for SINS/GNSS/OD/NHC Integrated Navigation in Complex Environments
Siyuan Du, Yulong Huang, Weisong Wen, Yonggang Zhang
IEEE Internet of Things Journal  ·  Jan 2025
autonomous-vehicle integrated-navigation lie-group interactive-multiple-model mounting-error-angle variational-bayesian
Graph-Based Indoor 3D Pedestrian Location Tracking With Inertial-Only Perception
journal Graph-Based Indoor 3D Pedestrian Location Tracking With Inertial-Only Perception
Shiyu Bai, Weisong Wen, Dongzhe Su, Li-Ta Hsu
IEEE Transactions on Mobile Computing  ·  Jan 2025
paper
indoor-localization pedestrians inertial-perception slam factor-graph-optimization
UrbanV2X: A Multisensory Vehicle-Infrastructure Dataset for Cooperative Navigation in Urban Areas
preprint UrbanV2X: A Multisensory Vehicle-Infrastructure Dataset for Cooperative Navigation in Urban Areas
Qijun Qin, Ziqi Zhang, Yihan Zhong, Feng Huang, Xikun Liu, …, Wei Hu, Dongzhe Su, Jun Zhang, Hoi-Fung Ng, Weisong Wen
arXiv  ·  Jan 2025
3-D LiDAR-Aided GNSS NLOS Mitigation for Reliable GNSS-RTK Positioning in Urban Canyons
journal 3-D LiDAR-Aided GNSS NLOS Mitigation for Reliable GNSS-RTK Positioning in Urban Canyons
Xikun Liu, Weisong Wen, Feng Huang, Han Gao, Yongliang Wang, Li-Ta Hsu
IEEE Transactions on Instrumentation and Measurement  ·  Jan 2025

2024 (39)

3DIO: Low-Drift 3-D Deep-Inertial Odometry for Indoor Localization Using an IMU
journal 3DIO: Low-Drift 3-D Deep-Inertial Odometry for Indoor Localization Using an IMU
Shiyu Bai, Weisong Wen, Chuang Shi
IEEE Internet of Things Journal  ·  Dec 2024
paper
3-d-space deep-learning indoor-localization inertial-measurement-unit-(imu) inertial-odometry invariant-extended-kalman-filter-(inekf).
Factor Graph Optimization-Based Smartphone IMU-Only Indoor SLAM With Multihypothesis Turning Behavior Loop Closures
journal Factor Graph Optimization-Based Smartphone IMU-Only Indoor SLAM With Multihypothesis Turning Behavior Loop Closures
Shiyu Bai, Weisong Wen, Li-Ta Hsu, Peiwen Yang
IEEE Transactions on Aerospace and Electronic Systems  ·  Dec 2024
paper
pedestrian-dead-reckoning simultaneous-localization-and-mapping-(slam)
A Novel Consistent-Robust SINS GNSS NHC Integrated Navigation Method for Autonomous Vehicles Under Intermittent GNSS Outage
journal A Novel Consistent-Robust SINS/GNSS/NHC Integrated Navigation Method for Autonomous Vehicles Under Intermittent GNSS Outage
Siyuan Du, Yulong Huang, Weisong Wen, Yonggang Zhang
IEEE Transactions on Intelligent Vehicles  ·  Dec 2024
paper
autonomous-vehicles integrated-navigation gnss-outage
Enhancing Smartphone-based Pedestrian Positioning: Using Factor Graph Optimization with Indoor Outdoor Detection for 3DMA GNSS Visual-Inertial State Estimation
journal Enhancing Smartphone-based Pedestrian Positioning: Using Factor Graph Optimization with Indoor/Outdoor Detection for 3DMA GNSS/Visual-Inertial State Estimation
Hiu-Yi Ho, Hoi-Fung Ng, Weisong Wen, Yanlei Gu, Li-Ta Hsu
Journal of Data Science and Intelligent Systems  ·  Oct 2024
paper
fgo pedestrian-positioning smartphone sensor-integration io vins 3dma-gnss
Invariant Extended Kalman Filtering for Pedestrian Deep-Inertial Odometry
conference Invariant Extended Kalman Filtering for Pedestrian Deep-Inertial Odometry
Shiyu Bai, Weisong Wen, Yue Yu, Li-Ta Hsu
The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences  ·  Oct 2024
paper
invariant-extended-kalman-filtering deep-learning inertial-odometry state-estimation pedestrian-localization low-cost
Invariant Extended Kalman Filtering for Pedestrian Deep-Inertial Odometry
conference Invariant Extended Kalman Filtering for Pedestrian Deep-Inertial Odometry
Shiyu Bai, Weisong Wen, Yue Yu, Li-Ta Hsu
The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences  ·  Oct 2024
Toward Persistent Spatial Awareness: A Review of Pedestrian Dead Reckoning-Centric Indoor Positioning With Smartphones
journal Toward Persistent Spatial Awareness: A Review of Pedestrian Dead Reckoning-Centric Indoor Positioning With Smartphones
Shiyu Bai, Weisong Wen, You Li, Chuang Shi, Li-Ta Hsu
IEEE Transactions on Instrumentation and Measurement  ·  Oct 2024
paper
indoor-positioning infrastructure-dependent infrastructure-free pedestrian-dead-reckoning-(pdr) smartphones
SUG-UAV Multirotor Dataset with Multi-sensor Integration in Indoor and Urban Areas
conference SUG-UAV Multirotor Dataset with Multi-sensor Integration in Indoor and Urban Areas
Naigui Xiao, Weisong Wen, Jiahao Hu, Peiwen Yang, Jiaqi Zhao, Chunjun Wu, Shiyu Bai
2024 14th International Conference on Indoor Positioning and Indoor Navigation (IPIN)  ·  Oct 2024
Factor Graph Optimization Based Multi Epoch Ambiguity Resolution for GNSS RTK and its Evaluation in Hong Kong Urban Canyons
conference Factor Graph Optimization Based Multi Epoch Ambiguity Resolution for GNSS RTK and its Evaluation in Hong Kong Urban Canyons
Yuan Li, Xikun Liu, Weisong Wen, Li-Ta Hsu, Yilong Yuan, Guangyu Bian, Qiaoyun Chen
ION GNSS+, The International Technical Meeting of the Satellite Division of The Institute of Navigation  ·  Oct 2024
paper
artificial-intelligence deep-learning gnss rtklib
DGNSS Corrected Pseudorange and Time-Differenced Carrier Phase TDCP Measurements using Differentiable Factor Graph Optimization DFGO
conference DGNSS Corrected Pseudorange and Time-Differenced Carrier Phase (TDCP) Measurements using Differentiable Factor Graph Optimization (DFGO)
Hoi-Fung Ng, Penghui Xu, Yihan Zhong, Guohao Zhang, Weisong Wen, Li-Ta Hsu
ION GNSS+, The International Technical Meeting of the Satellite Division of The Institute of Navigation  ·  Oct 2024
paper
time-differenced-carrier-phase differentiable-factor-graph-optimization
Safe-Assured Learning-Based Deep SE 3 Motion Joint Planning and Control for UAV Interactions with Dynamic Environments
conference Safe-Assured Learning-Based Deep SE(3) Motion Joint Planning and Control for UAV Interactions with Dynamic Environments
Yuanyuan Zhang, Weisong Wen, Penggao Yan
2024 IEEE 27th International Conference on Intelligent Transportation Systems (ITSC)  ·  Sep 2024
Indoor altitude estimation assisted by inertial compensation and online floor modeling
journal Indoor altitude estimation assisted by inertial compensation and online floor modeling
Ming Xia, Jiale Wang, Chuang Shi, Weisong Wen
Measurement Science and Technology  ·  Sep 2024
paper
altitude-estimation inertial-compensation floor-modeling gait-classification indoor-positioning
Indoor altitude estimation assisted by inertial compensation and online floor modeling
journal Indoor altitude estimation assisted by inertial compensation and online floor modeling
Ming Xia, Jiale Wang, Chuang Shi, Weisong Wen
Measurement Science and Technology  ·  Sep 2024
Trajectory Smoothing Using GNSS PDR Integration via Factor Graph Optimization in Urban Canyons
journal Trajectory Smoothing Using GNSS/PDR Integration via Factor Graph Optimization in Urban Canyons
Yihan Zhong, Weisong Wen, Li-Ta Hsu
IEEE Internet of Things Journal  ·  Jul 2024
paper
factor-graph-optimization global-navigation-satellite-system pedestrian-dead-reckoning
Towards high definition vector map construction based on multi sensor integration for intelligent vehicles: Systems and error quantification
journal Towards high‐definition vector map construction based on multi‐sensor integration for intelligent vehicles: Systems and error quantification
Runzhi Hu, Shiyu Bai, Weisong Wen, Xin Xia, Li‐Ta Hsu
IET Intelligent Transport Systems  ·  Jun 2024
paper
hdvm vector-map lidar gnss ins intelligent-vehicles
Towards high definition vector map construction based on multi sensor integration for intelligent vehicles: Systems and error quantification
journal Towards high‐definition vector map construction based on multi‐sensor integration for intelligent vehicles: Systems and error quantification
Runzhi Hu, Shiyu Bai, Weisong Wen, Xin Xia, Li‐Ta Hsu
IET Intelligent Transport Systems  ·  Jun 2024
LiDAR Stereo Visual Inertial Pose Estimation Based on Feedforward and Feedbacks
conference LiDAR Stereo Visual Inertial Pose Estimation Based on Feedforward and Feedbacks
Wenyu Yang, Haochen Hu, Kwai-wa Tse, Shengyang Chen, Weisong Wen, Chih-yung Wen
2024 International Conference on Unmanned Aircraft Systems (ICUAS)  ·  Jun 2024
paper
lidar-stereo-visual-inertial-odometry feedforward-feedback-lidar-visual-inertial-system
RELEAD: Resilient Localization with Enhanced LiDAR Odometry in Adverse Environments
conference RELEAD: Resilient Localization with Enhanced LiDAR Odometry in Adverse Environments
Zhiqiang Chen, Hongbo Chen, Yuhua Qi, Shipeng Zhong, Dapeng Feng, Jin Wu, Weisong Wen, Ming Liu
2024 IEEE International Conference on Robotics and Automation (ICRA)  ·  May 2024
paper
esikf graduated-non-convexit cremental-fixed-lag-smoothe
RELEAD: Resilient Localization with Enhanced LiDAR Odometry in Adverse Environments
conference RELEAD: Resilient Localization with Enhanced LiDAR Odometry in Adverse Environments
Zhiqiang Chen, Hongbo Chen, Yuhua Qi, Shipeng Zhong, Dapeng Feng, Jin Wu, Weisong Wen, Ming Liu
2024 IEEE International Conference on Robotics and Automation (ICRA)  ·  May 2024
CoLRIO: LiDAR-Ranging-Inertial Centralized State Estimation for Robotic Swarms
conference CoLRIO: LiDAR-Ranging-Inertial Centralized State Estimation for Robotic Swarms
Shipeng Zhong, Hongbo Chen, Yuhua Qi, Dapeng Feng, Zhiqiang Chen, Jin Wu, Weisong Wen, Ming Liu
2024 IEEE International Conference on Robotics and Automation (ICRA)  ·  May 2024
FGO-MFI: factor graph optimization-based multi-sensor fusion and integration for reliable localization
journal FGO-MFI: factor graph optimization-based multi-sensor fusion and integration for reliable localization
Jiaqi Zhu, Guirong Zhuo, Xin Xia, Weisong Wen, Lu Xiong, Bo Leng, Wei Liu
Measurement Science and Technology  ·  May 2024
paper
vehicle-localization multi-sensor-fusion imu/dynamics-pre-integration
A Fault Detection Algorithm for LiDAR IMU Integrated Localization Systems with Non-Gaussian Noises
conference A Fault Detection Algorithm for LiDAR/IMU Integrated Localization Systems with Non-Gaussian Noises
Penggao Yan, Weisong Wen, Feng Huang, Li-Ta Hsu
The International Technical Meeting of the The Institute of Navigation  ·  Feb 2024
paper
smartphone io ubiquitous perdestrian-positioning sensor-integration vins 3dma gnss fgo
A Fault Detection Algorithm for LiDAR IMU Integrated Localization Systems with Non-Gaussian Noises
conference A Fault Detection Algorithm for LiDAR/IMU Integrated Localization Systems with Non-Gaussian Noises
Penggao Yan, Weisong Wen, Feng Huang, Li-Ta Hsu
The International Technical Meeting of the The Institute of Navigation  ·  Feb 2024
Dynamic Object-Aware LiDAR Odometry Aided by Joint Weightings Estimation in Urban Areas
journal Dynamic Object-Aware LiDAR Odometry Aided by Joint Weightings Estimation in Urban Areas
Feng Huang, Weisong Wen, Jiachen Zhang, Chaoqun Wang, Li-Ta Hsu
IEEE Transactions on Intelligent Vehicles  ·  Feb 2024
paper
Website
3d-lidar weighting-estimation dynamic-objects urban-areas autonomous-driving
Dynamic Object-Aware LiDAR Odometry Aided by Joint Weightings Estimation in Urban Areas
journal Dynamic Object-Aware LiDAR Odometry Aided by Joint Weightings Estimation in Urban Areas
Feng Huang, Weisong Wen, Jiachen Zhang, Chaoqun Wang, Li-Ta Hsu
IEEE Transactions on Intelligent Vehicles  ·  Feb 2024
An Improved Inertial Preintegration Model in Factor Graph Optimization for High Accuracy Positioning of Intelligent Vehicles
journal An Improved Inertial Preintegration Model in Factor Graph Optimization for High Accuracy Positioning of Intelligent Vehicles
Liang Zhang, Weisong Wen, Li-Ta Hsu, Tao Zhang
IEEE Transactions on Intelligent Vehicles  ·  Jan 2024
paper
factor-graph-optimization imu-preintegration inertial-navigation integrated-navigation vehicle-navigation
GLIO: Tightly-Coupled GNSS LiDAR IMU Integration for Continuous and Drift-Free State Estimation of Intelligent Vehicles in Urban Areas
journal GLIO: Tightly-Coupled GNSS/LiDAR/IMU Integration for Continuous and Drift-Free State Estimation of Intelligent Vehicles in Urban Areas
Xikun Liu, Weisong Wen, Li-Ta Hsu
IEEE Transactions on Intelligent Vehicles  ·  Jan 2024
paper
Website
robotics tightly-coupled gnss lidar imu
ECMD: An Event-Centric Multisensory Driving Dataset for SLAM
journal ECMD: An Event-Centric Multisensory Driving Dataset for SLAM
Peiyu Chen, Weipeng Guan, Feng Huang, Yihan Zhong, Weisong Wen, Li-Ta Hsu, Peng Lu
IEEE Transactions on Intelligent Vehicles  ·  Jan 2024
paper
Website
event-based-vision multi-sensor-fusion slam autonomous-driving dataset
CoLRIO: LiDAR-Ranging-Inertial Centralized State Estimation for Robotic Swarms
preprint CoLRIO: LiDAR-Ranging-Inertial Centralized State Estimation for Robotic Swarms
Shipeng Zhong, Hongbo Chen, Yuhua Qi, Dapeng Feng, Zhiqiang Chen, Jin Wu, Weisong Wen, Ming Liu
arXiv  ·  Jan 2024
paper
3d-lidar muti-robot-cooperative-slam performance-evaluation efficient-mapping
Enhancing GNSS Positioning Accuracy for Road Monitoring Systems: A Factor Graph Optimization Approach Aided by Geospatial Information
journal Enhancing GNSS Positioning Accuracy for Road Monitoring Systems: A Factor Graph Optimization Approach Aided by Geospatial Information
Yihan Zhong, Runzhi Hu, Xiwei Bai, Xingxing Li, Li-Ta Hsu, Weisong Wen
IEEE Transactions on Instrumentation and Measurement  ·  Jan 2024
paper
factor-graph-optimization fgo geospatial-information global-navigation-satellite-system gnss map navigation
Tightly Joined Positioning and Control Model for Unmanned Aerial Vehicles Based on Factor Graph Optimization
preprint Tightly Joined Positioning and Control Model for Unmanned Aerial Vehicles Based on Factor Graph Optimization
Peiwen Yang, Weisong Wen, Shiyu Bai, Li-Ta Hsu
arXiv  ·  Jan 2024
paper
positioning; model-predictive-contro dynamic-mode factor-graph-optimization
Toward Persistent Spatial Awareness: A Review of Pedestrian Dead Reckoning-Centric Indoor Positioning With Smartphones
journal Toward Persistent Spatial Awareness: A Review of Pedestrian Dead Reckoning-Centric Indoor Positioning With Smartphones
Shiyu Bai, Weisong Wen, You Li, Chuang Shi, Li-Ta Hsu
IEEE Transactions on Instrumentation and Measurement  ·  Jan 2024
Nonlinearity-Aware ZUPT-Aided Pedestrian Inertial Navigation Based on Cubature Kalman Filter in Urban Canyons
journal Nonlinearity-Aware ZUPT-Aided Pedestrian Inertial Navigation Based on Cubature Kalman Filter in Urban Canyons
Ruijie Xu, Shichao Chen, Shiyu Bai, Weisong Wen
IEEE Transactions on Instrumentation and Measurement  ·  Jan 2024
paper
cubature-kalman-filter ckf inertial-sensor nonlinearity pedestrian-navigation zero-velocity-detection
Integrity-Constrained Factor Graph Optimization for GNSS Positioning in Urban Canyons
journal Integrity-Constrained Factor Graph Optimization for GNSS Positioning in Urban Canyons
Xiao Xia, Weisong Wen, , Li-Ta Hsu
NAVIGATION: Journal of the Institute of Navigation  ·  Jan 2024
paper
factor-graph-optimization fault-detection-and-exclusion gnss-positioning integrity-constrained-positioning integrity-monitoring switch-variables urban-canyons
Enhancing GNSS Positioning Accuracy for Road Monitoring Systems: A Factor Graph Optimization Approach Aided by Geospatial Information
journal Enhancing GNSS Positioning Accuracy for Road Monitoring Systems: A Factor Graph Optimization Approach Aided by Geospatial Information
Yihan Zhong, Runzhi Hu, Xiwei Bai, Xingxing Li, Li-Ta Hsu, Weisong Wen
IEEE Transactions on Instrumentation and Measurement  ·  Jan 2024
Integration of Vehicle Dynamic Model and System Identification Model for Extending the Navigation Service Under Sensor Failures
journal Integration of Vehicle Dynamic Model and System Identification Model for Extending the Navigation Service Under Sensor Failures
Penggao Yan, Weisong Wen, Li-Ta Hsu
IEEE Transactions on Intelligent Vehicles  ·  Jan 2024
paper
autonomous-vehicles localization sensor-failure system-identification vehicle-dynamic-models
GLIO: Tightly-Coupled GNSS LiDAR IMU Integration for Continuous and Drift-Free State Estimation of Intelligent Vehicles in Urban Areas
journal GLIO: Tightly-Coupled GNSS/LiDAR/IMU Integration for Continuous and Drift-Free State Estimation of Intelligent Vehicles in Urban Areas
Xikun Liu, Weisong Wen, Li-Ta Hsu
IEEE Transactions on Intelligent Vehicles  ·  Jan 2024
ECMD: An Event-Centric Multisensory Driving Dataset for SLAM
journal ECMD: An Event-Centric Multisensory Driving Dataset for SLAM
Peiyu Chen, Weipeng Guan, Feng Huang, Yihan Zhong, Weisong Wen, Li-Ta Hsu, Peng Lu
IEEE Transactions on Intelligent Vehicles  ·  Jan 2024
An Improved Inertial Preintegration Model in Factor Graph Optimization for High Accuracy Positioning of Intelligent Vehicles
journal An Improved Inertial Preintegration Model in Factor Graph Optimization for High Accuracy Positioning of Intelligent Vehicles
Liang Zhang, Weisong Wen, Li-Ta Hsu, Tao Zhang
IEEE Transactions on Intelligent Vehicles  ·  Jan 2024

2023 (34)

3D LiDAR Aided GNSS NLOS Correction with Direction of Arrival Estimation Using Doppler Measurements
conference 3D LiDAR Aided GNSS NLOS Correction with Direction of Arrival Estimation Using Doppler Measurements
Xikun Liu, Weisong Wen, Li-Ta Hsu
ION GNSS+, The International Technical Meeting of the Satellite Division of The Institute of Navigation  ·  Oct 2023
3d-vision autonomous-system gnss-rtk urban-canyons nlos
conference Towards Accurate Vehicle-to-Pedestrian Relative Positioning Aided by Inter-Frame and Inter-Agent GNSS Measurement Collaboration Using Factor Graph Optimization for Smart Summon
Yihan Zhong, Weisong Wen, Li-Ta Hsu
ION GNSS+, The International Technical Meeting of the Satellite Division of The Institute of Navigation  ·  Oct 2023
conference Differentiable Factor Graph Optimization with Intelligent Covariance Adaptation for Accurate Smartphone Positioning
Penghui Xu, Hoi-Fung Ng, Yihan Zhong, Guohao Zhang, Weisong Wen, Bo Yang, Li-Ta Hsu
ION GNSS+, The International Technical Meeting of the Satellite Division of The Institute of Navigation  ·  Oct 2023
conference A New GNSS Ambiguity Resolution Method Through Mixed Integer Programming
Hongmin Zhang, Weisong Wen, Li-Ta Hsu
ION GNSS+, The International Technical Meeting of the Satellite Division of The Institute of Navigation  ·  Oct 2023
3D LiDAR Aided GNSS NLOS Correction with Direction of Arrival Estimation Using Doppler Measurements
conference 3D LiDAR Aided GNSS NLOS Correction with Direction of Arrival Estimation Using Doppler Measurements
Xikun Liu, Weisong Wen, Li-Ta Hsu
ION GNSS+, The International Technical Meeting of the Satellite Division of The Institute of Navigation  ·  Oct 2023
Factor Graph Optimization-based Indoor Pedestrian SLAM with Probabilistic Exact Activity Loop Closures using Smartphone
conference Factor Graph Optimization-based Indoor Pedestrian SLAM with Probabilistic Exact Activity Loop Closures using Smartphone
Shiyu Bai, Weisong Wen, Li-Ta Hsu, Yue Yu
2023 13th International Conference on Indoor Positioning and Indoor Navigation (IPIN)  ·  Sep 2023
paper
indoor-localization simultaneous-localization-and-mapping-(slam) factor-graph-optimization-(fgo) smart-phone human-activity
Factor Graph Optimization-based Indoor Pedestrian SLAM with Probabilistic Exact Activity Loop Closures using Smartphone
conference Factor Graph Optimization-based Indoor Pedestrian SLAM with Probabilistic Exact Activity Loop Closures using Smartphone
Shiyu Bai, Weisong Wen, Li-Ta Hsu, Yue Yu
2023 13th International Conference on Indoor Positioning and Indoor Navigation (IPIN)  ·  Sep 2023
Tightly Joining Positioning and Control for Trustworthy Unmanned Aerial Vehicles Based on Factor Graph Optimization in Urban Transportation
conference Tightly Joining Positioning and Control for Trustworthy Unmanned Aerial Vehicles Based on Factor Graph Optimization in Urban Transportation
Peiwen Yang, Weisong Wen
2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)  ·  Sep 2023
paper
fgo uav mpc gnss
Fisheye Camera Aided GNSS NLOS Detection and Learning-Based Pseudorange Bias Correction for Intelligent Vehicles in Urban Canyons
conference Fisheye Camera Aided GNSS NLOS Detection and Learning-Based Pseudorange Bias Correction for Intelligent Vehicles in Urban Canyons
Runzhi Hu, Weisong Wen, Li–Ta Hsu
2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)  ·  Sep 2023
paper
simultaneous-localization-and-mapping-(slam) factor-graph-optimization-(fgo) smart-phone human-activity
Adaptive Multi-Sensor Integrated Navigation System Aided by Continuous Error Map from RSU for Autonomous Vehicles in Urban Areas
conference Adaptive Multi-Sensor Integrated Navigation System Aided by Continuous Error Map from RSU for Autonomous Vehicles in Urban Areas
Feng Huang, Weisong Wen, Guohao Zhang, Dongzhe Su, Li-Ta Hsu
2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)  ·  Sep 2023
paper
Website
c-v2x gnss roadside-units continuous-error-map
Roadside Infrastructure assisted LiDAR Inertial-based Mapping for Intelligent Vehicles in Urban Areas
conference Roadside Infrastructure assisted LiDAR/Inertial-based Mapping for Intelligent Vehicles in Urban Areas
Feng Huang, Hang Chen, Alpamys Urtay, Dongzhe Su, Weisong Wen, Li-Ta Hsu
2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)  ·  Sep 2023
paper
Website
roadside-infrastructure lidar mapping localization v2x fgo
Tightly-coupled Line Feature-aided Visual Inertial Localization within Lightweight 3D Prior Map for Intelligent Vehicles
conference Tightly-coupled Line Feature-aided Visual Inertial Localization within Lightweight 3D Prior Map for Intelligent Vehicles
Xi Zheng, Weisong Wen, Li-Ta Hsu
2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)  ·  Sep 2023
paper
tightly-coupled localization line-feature-aided
Tightly Joining Positioning and Control for Trustworthy Unmanned Aerial Vehicles Based on Factor Graph Optimization in Urban Transportation
conference Tightly Joining Positioning and Control for Trustworthy Unmanned Aerial Vehicles Based on Factor Graph Optimization in Urban Transportation
Peiwen Yang, Weisong Wen
2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)  ·  Sep 2023
Roadside Infrastructure assisted LiDAR Inertial-based Mapping for Intelligent Vehicles in Urban Areas
conference Roadside Infrastructure assisted LiDAR/Inertial-based Mapping for Intelligent Vehicles in Urban Areas
Feng Huang, Hang Chen, Alpamys Urtay, Dongzhe Su, Weisong Wen, Li-Ta Hsu
2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)  ·  Sep 2023
Fisheye Camera Aided GNSS NLOS Detection and Learning-Based Pseudorange Bias Correction for Intelligent Vehicles in Urban Canyons
conference Fisheye Camera Aided GNSS NLOS Detection and Learning-Based Pseudorange Bias Correction for Intelligent Vehicles in Urban Canyons
Runzhi Hu, Weisong Wen, Li–Ta Hsu
2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)  ·  Sep 2023
Adaptive Multi-Sensor Integrated Navigation System Aided by Continuous Error Map from RSU for Autonomous Vehicles in Urban Areas
conference Adaptive Multi-Sensor Integrated Navigation System Aided by Continuous Error Map from RSU for Autonomous Vehicles in Urban Areas
Feng Huang, Weisong Wen, Guohao Zhang, Dongzhe Su, Li-Ta Hsu
2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)  ·  Sep 2023
Deep Learning in Maritime Autonomous Surface Ships: Current Development and Challenges
journal Deep Learning in Maritime Autonomous Surface Ships: Current Development and Challenges
Jun Ye, Chengxi Li, Weisong Wen, Ruiping Zhou, Vasso Reppa
Journal of Marine Science and Application  ·  Sep 2023
paper
maritime-autonomous-surface-ships deep-learning dl artificial-intelligence ai review
Deep Learning in Maritime Autonomous Surface Ships: Current Development and Challenges
journal Deep Learning in Maritime Autonomous Surface Ships: Current Development and Challenges
Jun Ye, Chengxi Li, Weisong Wen, Ruiping Zhou, Vasso Reppa
Journal of Marine Science and Application  ·  Sep 2023
COST-EFFECTIVE CAMERA LOCALIZATION AIDED BY PRIOR POINT CLOUDS MAPS FOR LEVEL 3 AUTONOMOUS DRIVING VEHICLES
conference COST-EFFECTIVE CAMERA LOCALIZATION AIDED BY PRIOR POINT CLOUDS MAPS FOR LEVEL 3 AUTONOMOUS DRIVING VEHICLES
Y.-T. Leung, X. Zheng, H.-Y. Ho, W. Wen, L.-T. Hsu
The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences  ·  May 2023
paper
autonomous-driving-vehicles visual-localization 3d-lidar-maps image-reconstruction matching-geometry
SMARTPHONE LEVEL INDOOR OUTDOOR UBIQUITOUS PEDESTRIAN POSITIONING 3DMA GNSS VINS INTEGRATION USING FGO
conference SMARTPHONE LEVEL INDOOR/OUTDOOR UBIQUITOUS PEDESTRIAN POSITIONING 3DMA GNSS/VINS INTEGRATION USING FGO
H.-Y. Ho, H.-F. Ng, Y.-T. Leung, W. Wen, L.-T. Hsu, Y. Luo
The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences  ·  May 2023
paper
MULTI-ROBOT COOPERATIVE LIDAR SLAM FOR EFFICIENT MAPPING IN URBAN SCENES
conference MULTI-ROBOT COOPERATIVE LIDAR SLAM FOR EFFICIENT MAPPING IN URBAN SCENES
Y. Sun, F. Huang, W. Wen, L.-T. Hsu, X. Liu
The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences  ·  May 2023
paper
factor-graph-optimization-(fgo) geospatial-information global-navigation-satellite-system-(gnss) map navigation
SMARTPHONE LEVEL INDOOR OUTDOOR UBIQUITOUS PEDESTRIAN POSITIONING 3DMA GNSS VINS INTEGRATION USING FGO
conference SMARTPHONE LEVEL INDOOR/OUTDOOR UBIQUITOUS PEDESTRIAN POSITIONING 3DMA GNSS/VINS INTEGRATION USING FGO
H.-Y. Ho, H.-F. Ng, Y.-T. Leung, W. Wen, L.-T. Hsu, Y. Luo
The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences  ·  May 2023
MULTI-ROBOT COOPERATIVE LIDAR SLAM FOR EFFICIENT MAPPING IN URBAN SCENES
conference MULTI-ROBOT COOPERATIVE LIDAR SLAM FOR EFFICIENT MAPPING IN URBAN SCENES
Y. Sun, F. Huang, W. Wen, L.-T. Hsu, X. Liu
The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences  ·  May 2023
COST-EFFECTIVE CAMERA LOCALIZATION AIDED BY PRIOR POINT CLOUDS MAPS FOR LEVEL 3 AUTONOMOUS DRIVING VEHICLES
conference COST-EFFECTIVE CAMERA LOCALIZATION AIDED BY PRIOR POINT CLOUDS MAPS FOR LEVEL 3 AUTONOMOUS DRIVING VEHICLES
Y.-T. Leung, X. Zheng, H.-Y. Ho, W. Wen, L.-T. Hsu
The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences  ·  May 2023
Extending Navigation Service under Sensor Failures: An Approach by Integrating System Identification and Vehicle Dynamic Model
conference Extending Navigation Service under Sensor Failures: An Approach by Integrating System Identification and Vehicle Dynamic Model
Penggao Yan, Li-Ta Hsu, Weisong Wen
2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)  ·  Apr 2023
paper
localization vehicle-dynamic-model online-system-identification-formatting autonomous-systems sensor-failures
LiDAR Feature Outlier Mitigation Aided by Graduated Non-convexity Relaxation for Safety-critical Localization in Urban Canyons
conference LiDAR Feature Outlier Mitigation Aided by Graduated Non-convexity Relaxation for Safety-critical Localization in Urban Canyons
Jiachen Zhang, Weisong Wen, Li-Ta Hsu, Zheng Gong, Zhongzhe Su
2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)  ·  Apr 2023
paper
3d-lidar satety-critical-localization urban-canyons fault-detection-and-exclusion graduated-non-convexity-relaxation
LiDAR Feature Outlier Mitigation Aided by Graduated Non-convexity Relaxation for Safety-critical Localization in Urban Canyons
conference LiDAR Feature Outlier Mitigation Aided by Graduated Non-convexity Relaxation for Safety-critical Localization in Urban Canyons
Jiachen Zhang, Weisong Wen, Li-Ta Hsu, Zheng Gong, Zhongzhe Su
2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)  ·  Apr 2023
Integrity-constrained Factor Graph Optimization for GNSS Positioning
conference Integrity-constrained Factor Graph Optimization for GNSS Positioning
Xiao Xia, Li-Ta Hsu, Weisong Wen
2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)  ·  Apr 2023
Extending Navigation Service under Sensor Failures: An Approach by Integrating System Identification and Vehicle Dynamic Model
conference Extending Navigation Service under Sensor Failures: An Approach by Integrating System Identification and Vehicle Dynamic Model
Penggao Yan, Li-Ta Hsu, Weisong Wen
2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)  ·  Apr 2023
Integration of Vehicle Dynamic Model and System Identified Model for Navigation in Autonomous Mobile Robots
conference Integration of Vehicle Dynamic Model and System Identified Model for Navigation in Autonomous Mobile Robots
Penggao Yan, Li-Ta Hsu, Weisong Wen
The International Technical Meeting of the The Institute of Navigation  ·  Feb 2023
paper
autonomous-mobile-robots vehicle-dynamic-models
3D Vision Aided GNSS Real-Time Kinematic Positioning for Autonomous Systems in Urban Canyons
journal 3D Vision Aided GNSS Real-Time Kinematic Positioning for Autonomous Systems in Urban Canyons
Weisong Wen, Xiwei Bai, , Li-Ta Hsu
NAVIGATION: Journal of the Institute of Navigation  ·  Jan 2023
paper
3d-vision autonomous-system gnss-rtk urban-canyons nlos
Hong Kong UrbanNav: An Open-Source Multisensory Dataset for Benchmarking Urban Navigation Algorithms
journal Hong Kong UrbanNav: An Open-Source Multisensory Dataset for Benchmarking Urban Navigation Algorithms
Li-Ta Hsu, Feng Huang, Hoi-Fung Ng, Guohao Zhang, Yihan Zhong, Xiwei Bai, , Weisong Wen
NAVIGATION: Journal of the Institute of Navigation  ·  Jan 2023
paper
dynamic-objects gnss-raw-data gnss/ins/lidar/camera ground-truth localization positioning urban-canyons
Hong Kong UrbanNav: An Open-Source Multisensory Dataset for Benchmarking Urban Navigation Algorithms
journal Hong Kong UrbanNav: An Open-Source Multisensory Dataset for Benchmarking Urban Navigation Algorithms
Li-Ta Hsu, Feng Huang, Hoi-Fung Ng, Guohao Zhang, Yihan Zhong, Xiwei Bai, , Weisong Wen
NAVIGATION: Journal of the Institute of Navigation  ·  Jan 2023
3D Vision Aided GNSS Real-Time Kinematic Positioning for Autonomous Systems in Urban Canyons
journal 3D Vision Aided GNSS Real-Time Kinematic Positioning for Autonomous Systems in Urban Canyons
Weisong Wen, Xiwei Bai, , Li-Ta Hsu
NAVIGATION: Journal of the Institute of Navigation  ·  Jan 2023

2022 (14)

Point Wise or Feature Wise A Benchmark Comparison of Publicly Available Lidar Odometry Algorithms in Urban Canyons
journal Point Wise or Feature Wise? A Benchmark Comparison of Publicly Available Lidar Odometry Algorithms in Urban Canyons
Feng Huang, Weisong Wen, Jiachen Zhang, Li-Ta Hsu
IEEE Intelligent Transportation Systems Magazine  ·  Nov 2022
paper
feature-extraction point-cloud-compression real-time-systems laser-radar three-dimensional-displays heuristic-algorithms global-navigation-satellite-system autonomous-systems
Real-time Factor Graph Optimization Aided by Graduated Non-convexity Based Outlier Mitigation for Smartphone Decimeter Challenge
conference Real-time Factor Graph Optimization Aided by Graduated Non-convexity Based Outlier Mitigation for Smartphone Decimeter Challenge
Yihan Zhong, Weisong Wen, Hoi-Fung Ng, Xiwei Bai, Li-Ta Hsu
ION GNSS+, The International Technical Meeting of the Satellite Division of The Institute of Navigation  ·  Oct 2022
Factor Graph Optimization for Tightly-Coupled GNSS Pseudorange Doppler Carrier Phase INS Integration: Performance in Urban Canyons of Hong Kong
conference Factor Graph Optimization for Tightly-Coupled GNSS Pseudorange/Doppler/Carrier Phase/INS Integration: Performance in Urban Canyons of Hong Kong
Weisong Wen, Li-Ta Hsu
ION GNSS+, The International Technical Meeting of the Satellite Division of The Institute of Navigation  ·  Oct 2022
3D LiDAR Aided GNSS Real-time Kinematic Positioning via Coarse-to-fine Batch Optimization for High Accuracy Mapping in Dense Urban Canyons
conference 3D LiDAR Aided GNSS Real-time Kinematic Positioning via Coarse-to-fine Batch Optimization for High Accuracy Mapping in Dense Urban Canyons
Xikun Liu, Weisong Wen, Li-Ta Hsu
ION GNSS+, The International Technical Meeting of the Satellite Division of The Institute of Navigation  ·  Oct 2022
LiDAR Aided Cycle Slip Detection for GNSS Real-Time Kinematic Positioning in Urban Environments
conference LiDAR Aided Cycle Slip Detection for GNSS Real-Time Kinematic Positioning in Urban Environments
Feng Huang, Weisong Wen, Hoi-Fung Ng, Li-Ta Hsu
2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)  ·  Oct 2022
paper
navigation gnss-rtk lidar cycle-slip urban-canyons
GNSS Outliers Mitigation in Urban Areas Using Sparse Estimation Based on Factor Graph Optimization
conference GNSS Outliers Mitigation in Urban Areas Using Sparse Estimation Based on Factor Graph Optimization
Xiwei Bai, Weisong Wen, Guohao Zhang, Hoi-Fung Ng, Li-Ta Hsu
2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)  ·  Oct 2022
paper
global-navigation-satellite-system urban-areas redundancy receivers position-measurement reflection frequency-estimation
Continuous and Precise Positioning in Urban Environments by Tightly Coupled Integration of GNSS, INS and Vision
journal Continuous and Precise Positioning in Urban Environments by Tightly Coupled Integration of GNSS, INS and Vision
Xingxing Li, Shengyu Li, Yuxuan Zhou, Zhiheng Shen, Xuanbin Wang, Xin Li, Weisong Wen
IEEE Robotics and Automation Letters  ·  Oct 2022
paper
adaptive-gnss-rtk/lio-fusion gnss-rtk-selection globally-urban-positioning factor graph-optimization
3D LiDAR Aided GNSS NLOS Mitigation in Urban Canyons
journal 3D LiDAR Aided GNSS NLOS Mitigation in Urban Canyons
Weisong Weisong Wen, Li-Ta Hsu
IEEE Transactions on Intelligent Transportation Systems  ·  Oct 2022
paper
gnss 3d-lidar gnss-nlos-detection nlos-correction-and-remodeling automobile-level-gnss receiver urban-canyons
Low cost solid state LiDAR inertial based localization with prior map for autonomous systems in urban scenarios
journal Low‐cost solid‐state LiDAR/inertial‐based localization with prior map for autonomous systems in urban scenarios
Yihan Zhong, Feng Huang, Jiachen Zhang, Weisong Wen, Li‐Ta Hsu
IET Intelligent Transport Systems  ·  Sep 2022
paper
3d-lidar weighting-estimation dynamic-objects urban-areas autonomous-driving
Time-Correlated Window-Carrier-Phase-Aided GNSS Positioning Using Factor Graph Optimization for Urban Positioning
journal Time-Correlated Window-Carrier-Phase-Aided GNSS Positioning Using Factor Graph Optimization for Urban Positioning
Xiwei Bai, Weisong Wen, Li-Ta Hsu
IEEE Transactions on Aerospace and Electronic Systems  ·  Aug 2022
Safety-quantifiable Line Feature-based Monocular Visual Localization with 3D Prior Map
preprint Safety-quantifiable Line Feature-based Monocular Visual Localization with 3D Prior Map
Xi Zheng, Weisong Wen, Li-Ta Hsu
arXiv  ·  Jan 2022
paper
global-navigation-satellite-system-(gnss) lidar sensor-fusion non-line-of-sight-(nlos) lidar-inertial-odometry urban-areas
3D LiDAR Aided GNSS NLOS Mitigation for Reliable GNSS-RTK Positioning in Urban Canyons
preprint 3D LiDAR Aided GNSS NLOS Mitigation for Reliable GNSS-RTK Positioning in Urban Canyons
Xikun Liu, Weisong Wen, Feng Huang, Han Gao, Yongliang Wang, Li-Ta Hsu
arXiv  ·  Jan 2022
paper
3d-lidar gnss-rtk perception-aided-integration nlos-exclusion geometry-distribution urban-canyons
GNSS Outlier Mitigation via Graduated Non-Convexity Factor Graph Optimization
journal GNSS Outlier Mitigation via Graduated Non-Convexity Factor Graph Optimization
Weisong Wen, Guohao Zhang, Li-Ta Hsu
IEEE Transactions on Vehicular Technology  ·  Jan 2022
paper
gnss nlos navigation factor-graph optimization graduated-non-convexity adaptive-tunning non-convex-geman-mcclure urban-canyons
AGPC-SLAM: Absolute Ground Plane Constrained 3D Lidar SLAM
journal AGPC-SLAM: Absolute Ground Plane Constrained 3D Lidar SLAM
Weisong Wen, Li-Ta Hsu
NAVIGATION: Journal of the Institute of Navigation  ·  Jan 2022
paper
dynamic-object ground-plane-constraint lidar-slam urban-canyons

2021 (14)

UrbanNav:An Open-Sourced Multisensory Dataset for Benchmarking Positioning Algorithms Designed for Urban Areas
conference UrbanNav:An Open-Sourced Multisensory Dataset for Benchmarking Positioning Algorithms Designed for Urban Areas
Li-Ta Hsu, Nobuaki Kubo, Weisong Wen, Wu Chen, Zhizhao Liu, Taro Suzuki, Junichi Meguro
ION GNSS+, The International Technical Meeting of the Satellite Division of The Institute of Navigation  ·  Oct 2021
paper
urbannav dataset
Integrity Monitoring for GNSS Positioning Via Factor Graph Optimization in Urban Canyons
conference Integrity Monitoring for GNSS Positioning Via Factor Graph Optimization in Urban Canyons
Weisong Wen, Qian Meng, Li-Ta Hsu
ION GNSS+, The International Technical Meeting of the Satellite Division of The Institute of Navigation  ·  Oct 2021
paper
gnss fgo failure-detection-and-exclusion urban-canyon
Continuous GNSS-RTK Aided by LiDAR Inertial Odometry with Intelligent GNSS Selection in Urban Canyons
conference Continuous GNSS-RTK Aided by LiDAR/Inertial Odometry with Intelligent GNSS Selection in Urban Canyons
Jiachen Zhang, Weisong Wen, Feng Huang, Xiaodong Chen, Li-Ta Hsu
ION GNSS+, The International Technical Meeting of the Satellite Division of The Institute of Navigation  ·  Oct 2021
paper
gnss-rtk gnss nlos urban-canyons lio
A Coarse-to-Fine LiDAR-Based SLAM with Dynamic Object Removal in Dense Urban Areas
conference A Coarse-to-Fine LiDAR-Based SLAM with Dynamic Object Removal in Dense Urban Areas
Feng Huang, Donghui Shen, Weisong Wen, Jiachen Zhang, Li-Ta Hsu
ION GNSS+, The International Technical Meeting of the Satellite Division of The Institute of Navigation  ·  Oct 2021
paper
slam lidar localization dnn dynamic-object-removal
3D Mapping Aided GNSS Using Gauss-Newton Algorithm: An Example on GNSS Shadow Matching
conference 3D Mapping Aided GNSS Using Gauss-Newton Algorithm: An Example on GNSS Shadow Matching
Hoi-Fung Ng, Guohao Zhang, Weisong Wen, Li-Ta Hsu
ION GNSS+, The International Technical Meeting of the Satellite Division of The Institute of Navigation  ·  Oct 2021
paper
gnss mapping nlos gauss-newton 3dma
3D LiDAR Aided GNSS Real-time Kinematic Positioning
conference 3D LiDAR Aided GNSS Real-time Kinematic Positioning
Weisong Wen, Li-Ta Hsu
ION GNSS+, The International Technical Meeting of the Satellite Division of The Institute of Navigation  ·  Oct 2021
paper
fgo 3d-lidar nlos rtk 3dma-gnss
3D Mapping Database Aided GNSS Based Collaborative Positioning Using Factor Graph Optimization
journal 3D Mapping Database Aided GNSS Based Collaborative Positioning Using Factor Graph Optimization
Guohao Zhang, Hoi-Fung Ng, Weisong Wen, Li-Ta Hsu
IEEE Transactions on Intelligent Transportation Systems  ·  Oct 2021
paper
global-navigation-satellite-system collaboration roads ray-tracing three-dimensional-displays optimization satellites
Coarse-to-Fine Loosely-Coupled LiDAR-Inertial Odometry for Urban Positioning and Mapping
journal Coarse-to-Fine Loosely-Coupled LiDAR-Inertial Odometry for Urban Positioning and Mapping
Jiachen Zhang, Weisong Wen, Feng Huang, Xiaodong Chen, Li-Ta Hsu
Remote Sensing  ·  Jun 2021
paper
lidar-inertial-odometry loosely-coupled-integration adaptive-covariance-estimation urban-canyons mapping autonomous-system
Towards Robust GNSS Positioning and Real-time Kinematic Using Factor Graph Optimization
conference Towards Robust GNSS Positioning and Real-time Kinematic Using Factor Graph Optimization
Weisong Wen, Li-Ta Hsu
2021 IEEE International Conference on Robotics and Automation (ICRA)  ·  May 2021
paper
gnss gnss-rtk localization urban-canyons mapping autonomous-vehicle fgo
Towards Robust GNSS Positioning and Real-time Kinematic Using Factor Graph Optimization
conference Towards Robust GNSS Positioning and Real-time Kinematic Using Factor Graph Optimization
Weisong Wen, Li-Ta Hsu
2021 IEEE International Conference on Robotics and Automation (ICRA)  ·  May 2021
Factor graph optimization for GNSS INS integration: A comparison with the extended Kalman filter
journal Factor graph optimization for GNSS/INS integration: A comparison with the extended Kalman filter
Weisong Wen, Tim Pfeifer, Xiwei Bai, Li‐Ta Hsu
NAVIGATION  ·  May 2021
paper
gnss extended-kalman-filter failure-detection-and-exclusion urban-canyon fgo ins integration navigation positioning window-size
3D Point Clouds Data Super Resolution-Aided LiDAR Odometry for Vehicular Positioning in Urban Canyons
journal 3D Point Clouds Data Super Resolution-Aided LiDAR Odometry for Vehicular Positioning in Urban Canyons
Jiang Yue, Weisong Wen, Jin Han, Li-Ta Hsu
IEEE Transactions on Vehicular Technology  ·  May 2021
paper
lidar ndt sparse-point-clouds superresolution convolutional-neural-network lidar-odometry vehicular-positioning
GNSS NLOS Exclusion Based on Dynamic Object Detection Using LiDAR Point Cloud
journal GNSS NLOS Exclusion Based on Dynamic Object Detection Using LiDAR Point Cloud
Weisong Weisong Wen, Guohao Zhang, Li-Ta Hsu
IEEE Transactions on Intelligent Transportation Systems  ·  Feb 2021
paper
gps gnss nlos lidar 3d-point-clouds object-detection positioning
Degeneration-Aware Outlier Mitigation for Visual Inertial Integrated Navigation System in Urban Canyons
journal Degeneration-Aware Outlier Mitigation for Visual Inertial Integrated Navigation System in Urban Canyons
Xiwei Bai, Weisong Wen, Li-Ta Hsu
IEEE Transactions on Instrumentation and Measurement  ·  Jan 2021
paper
gnc navigation optimizaiton-method outlier-measurement urban-canyons vins visual-odometry

2020 (12)

3D LiDAR Aided GNSS and Its Tightly Coupled Integration with INS Via Factor Graph Optimization
conference 3D LiDAR Aided GNSS and Its Tightly Coupled Integration with INS Via Factor Graph Optimization
Weisong Wen
ION GNSS+, The International Technical Meeting of the Satellite Division of The Institute of Navigation  ·  Oct 2020
paper
fgo 3d-lidar nlos 3dma-gnss
Using Sky pointing fish eye camera and LiDAR to aid GNSS single point positioning in urban canyons
journal Using Sky‐pointing fish‐eye camera and LiDAR to aid GNSS single‐point positioning in urban canyons
Xiwei Bai, Weisong Wen, Li‐Ta Hsu
IET Intelligent Transport Systems  ·  May 2020
paper
Robust Visual-Inertial Integrated Navigation System Aided by Online Sensor Model Adaption for Autonomous Ground Vehicles in Urban Areas
journal Robust Visual-Inertial Integrated Navigation System Aided by Online Sensor Model Adaption for Autonomous Ground Vehicles in Urban Areas
Xiwei Bai, Weisong Wen, Li-Ta Hsu
Remote Sensing  ·  May 2020
paper
visual-inertial-integrated-navigation-system-(vins) vins dynamic-objects adaptive-tuning positioning autonomous-systems urban-canyons
UrbanLoco: A Full Sensor Suite Dataset for Mapping and Localization in Urban Scenes
conference UrbanLoco: A Full Sensor Suite Dataset for Mapping and Localization in Urban Scenes
Weisong Wen, Yiyang Zhou, Guohao Zhang, Saman Fahandezh-Saadi, Xiwei Bai, Wei Zhan, Masayoshi Tomizuka, Li-Ta Hsu
2020 IEEE International Conference on Robotics and Automation (ICRA)  ·  May 2020
paper
global-navigation-satellite-system cameras laser-radar urban-areas robot-sensing-systems trajectory satellites
Extending Shadow Matching to Tightly-Coupled GNSS INS Integration System
journal Extending Shadow Matching to Tightly-Coupled GNSS/INS Integration System
Guohao Zhang, Weisong Wen, Bing Xu, Li-Ta Hsu
IEEE Transactions on Vehicular Technology  ·  May 2020
paper
global-navigation-satellite-system position-measurement satellites buildings three-dimensional-displays estimation noise-measurement gnss sensor-integration localization 3d-building-model
Perception-aided Visual-Inertial Integrated Positioning in Dynamic Urban Areas
conference Perception-aided Visual-Inertial Integrated Positioning in Dynamic Urban Areas
Xiwei Bai, Bo Zhang, Weisong Wen, Li-Ta Hsu, Huiyun Li
2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)  ·  Apr 2020
paper
visual-odometry ins vins navigation positioning urban-areas
New Integrated Navigation Scheme for the Level 4 Autonomous Vehicles in Dense Urban Areas
conference New Integrated Navigation Scheme for the Level 4 Autonomous Vehicles in Dense Urban Areas
Li-Ta Hsu, Weisong Wen
2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)  ·  Apr 2020
paper
autonomous-driving-vehicle positioning perception gnss lidar camera pasin urban-canyon
GNSS LiDAR Integration Aided by Self-Adaptive Gaussian Mixture Models in Urban Scenarios: An Approach Robust to Non-Gaussian Noise
conference GNSS/LiDAR Integration Aided by Self-Adaptive Gaussian Mixture Models in Urban Scenarios: An Approach Robust to Non-Gaussian Noise
Weisong Wen, Xiwei Bai, Li-Ta Hsu, Tim Pfeifer
2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)  ·  Apr 2020
paper
gnss lidar positioning non-gaussian-noise factor-graph-optimization gaussian-mixture-models urban-canyon
It is time for Factor Graph Optimization for GNSS INS Integration: Comparison between FGO and EKF
preprint It is time for Factor Graph Optimization for GNSS/INS Integration: Comparison between FGO and EKF
Weisong Wen, Tim Pfeifer, Xiwei Bai, Li-Ta Hsu
arXiv  ·  Jan 2020
paper
gnss ins integration extended-kalman-filter factor-graph-optimization window-size urban-canyons positioning-navigation
LiDAR Data Enrichment Using Deep Learning Based on High-Resolution Image: An Approach to Achieve High-Performance LiDAR SLAM Using Low-cost LiDAR
preprint LiDAR Data Enrichment Using Deep Learning Based on High-Resolution Image: An Approach to Achieve High-Performance LiDAR SLAM Using Low-cost LiDAR
Jiang Yue, Weisong Wen, Jing Han, Li-Ta Hsu
arXiv  ·  Jan 2020
paper
lidar point-clouds depth-completion convolutional-neural-network ndt slam
Object-Detection-Aided GNSS and Its Integration With Lidar in Highly Urbanized Areas
journal Object-Detection-Aided GNSS and Its Integration With Lidar in Highly Urbanized Areas
Weisong Wen, Guohao Zhang, Li-Ta Hsu
IEEE Intelligent Transportation Systems Magazine  ·  Jan 2020
paper
global-navigation-satellite-system three-dimensional-displays laser-radar simultaneous-localization-and-mapping uncertainty urban-areas
Multi-Agent Collaborative GNSS Camera INS Integration Aided by Inter-Ranging for Vehicular Navigation in Urban Areas
journal Multi-Agent Collaborative GNSS/Camera/INS Integration Aided by Inter-Ranging for Vehicular Navigation in Urban Areas
Weisong Wen, Xiwei Bai, Guohao Zhang, Shengdong Chen, Feng Yuan, Li-Ta Hsu
IEEE Access  ·  Jan 2020
paper
sensors global-navigation-satellite-system collaboration cameras receivers optimization three-dimensional-displays

2019 (7)

Combining Deep Gaussian Process and Rule-Based Method for Decision-Making in Self-Driving Simulation with Small Data
conference Combining Deep Gaussian Process and Rule-Based Method for Decision-Making in Self-Driving Simulation with Small Data
Wenqi Fang, Huiyun Li, Shaobo Dang, Hui Huang, Lei Peng, Li-Ta Hsu, Weisong Wen
2019 15th International Conference on Computational Intelligence and Security (CIS)  ·  Dec 2019
paper
gaussian-process kernel-function rule-based decision-making
Correcting NLOS by 3D LiDAR and building height to improve GNSS single point positioning
journal Correcting NLOS by 3D LiDAR and building height to improve GNSS single point positioning
Weisong Wen, Guohao Zhang, Li‐Ta Hsu
Navigation  ·  Dec 2019
paper
nlos gnss 3d-lidar
Tightly Coupled GNSS INS Integration via Factor Graph and Aided by Fish-Eye Camera
journal Tightly Coupled GNSS/INS Integration via Factor Graph and Aided by Fish-Eye Camera
Weisong Wen, Xiwei Bai, Yin Chiu Kan, Li-Ta Hsu
IEEE Transactions on Vehicular Technology  ·  Nov 2019
paper
gnss ins camera integration factor-graph positioning autonomous-driving
Performance Comparison of GNSS INS Integrations Based on EKF and Factor Graph Optimization
conference Performance Comparison of GNSS/INS Integrations Based on EKF and Factor Graph Optimization
Weisong Wen, Yin Chiu Kan, Li-Ta Hsu
ION GNSS+, The International Technical Meeting of the Satellite Division of The Institute of Navigation  ·  Oct 2019
paper
gnss ins integration extended-kalman-filter factor-graph-optimization window-size urban-canyons positioning-navigation
Rectification of GNSS-based collaborative positioning using 3D building models in urban areas
journal Rectification of GNSS-based collaborative positioning using 3D building models in urban areas
Guohao Zhang, Weisong Wen, Li-Ta Hsu
GPS Solutions  ·  Jun 2019
paper
gnss 3d-model urban-canyon
Real-time GNSS NLOS Detection and Correction Aided by Sky-Pointing Camera and 3D LiDAR
conference Real-time GNSS NLOS Detection and Correction Aided by Sky-Pointing Camera and 3D LiDAR
Xiwei Bai, Weisong Wen, Guohao Zhang, Li-Ta Hsu
ION Pacific PNT  ·  May 2019
fgo 3d-lidar nlos rtk 3dma-gnss cameras sensors
Uncertainty estimation of LiDAR matching aided by dynamic vehicle detection and high definition map
journal Uncertainty estimation of LiDAR matching aided by dynamic vehicle detection and high definition map
W. Wen, X. Bai, W. Zhan, M. Tomizuka, L.‐T. Hsu
Electronics Letters  ·  Mar 2019
paper
3d-lidar uncertainty-estimation dynamic-detection

2018 (5)

Performance Analysis of NDT-based Graph SLAM for Autonomous Vehicle in Diverse Typical Driving Scenarios of Hong Kong
journal Performance Analysis of NDT-based Graph SLAM for Autonomous Vehicle in Diverse Typical Driving Scenarios of Hong Kong
Weisong Wen, Li-Ta Hsu, Guohao Zhang
Sensors  ·  Nov 2018
paper
localization ndt graph-slam lidar autonomous-vehicle
Correcting GNSS NLOS by 3D LiDAR and Building Height
conference Correcting GNSS NLOS by 3D LiDAR and Building Height
Weisong Wen, Guohao Zhang, Li-Ta Hsu
ION GNSS+, The International Technical Meeting of the Satellite Division of The Institute of Navigation  ·  Oct 2018
paper
gnss nlos 3d-lidar 3dma-gnss
Collaborative GNSS Positioning with the Aids of 3D City Models
conference Collaborative GNSS Positioning with the Aids of 3D City Models
Guohao Zhang, Weisong Wen, Li-Ta Hsu
ION GNSS+, The International Technical Meeting of the Satellite Division of The Institute of Navigation  ·  Oct 2018
paper
gnss nlos 3d-model 3dma-gnss v2v
Exclusion of GNSS NLOS receptions caused by dynamic objects in heavy traffic urban scenarios using real-time 3D point cloud: An approach without 3D maps
conference Exclusion of GNSS NLOS receptions caused by dynamic objects in heavy traffic urban scenarios using real-time 3D point cloud: An approach without 3D maps
Weisong Wen, Guohao Zhang, Li-Ta Hsu
2018 IEEE/ION Position, Location and Navigation Symposium (PLANS)  ·  Apr 2018
paper
gps gnss lidar 3d-point-clouds object-detection nlos-exclusion urban-canyon
A novel GNSS based V2V cooperative localization to exclude multipath effect using consistency checks
conference A novel GNSS based V2V cooperative localization to exclude multipath effect using consistency checks
Guohao Zhang, Weisong Wen, Li-Ta Hsu
2018 IEEE/ION Position, Location and Navigation Symposium (PLANS)  ·  Apr 2018
paper
gnss multipath nlos v2v cooperative-localization autonomous-driving urban double-difference