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2025
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
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02 Jun 2025
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doi:10.1109/TITS.2025.3572620
Continuous Error Map Aided Adaptive Multi-Sensor Integration for Connected Autonomous Vehicles in Urban Scenarios
Feng Huang, Weisong Wen, Guohao Zhang, Dongzhe Su, Yulong Huang
IEEE Transactions on Instrumentation and Measurement
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26 May 2025
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doi:10.1109/TIM.2025.3573351
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
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12 May 2025
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doi:10.1109/TIM.2025.3568977
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
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01 May 2025
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doi:10.1109/TAES.2025.3566347
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
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11 Apr 2025
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doi:10.1109/TITS.2025.3552691
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
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19 Mar 2025
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doi:10.33012/navi.684
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
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19 Mar 2025
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doi:10.1109/TCE.2025.3552892
Multisensor Plug-and-Play Navigation Based on Resilient Information Filter
Qian Meng, Chang Su, Yingying Jiang, Weisong Wen, Xiaolin Meng
IEEE Sensors Journal
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26 Feb 2025
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doi:10.1109/JSEN.2025.3540790
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
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09 Jan 2025
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doi:10.1109/JIOT.2025.3527555
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
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06 Jan 2025
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doi:10.1109/TMC.2025.3526196
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
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01 Jan 2025
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doi:10.1109/TIV.2024.3450198
2024
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
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23 Dec 2024
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doi:10.1109/JIOT.2024.3521404
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
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01 Dec 2024
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doi:10.1109/TAES.2024.3430256
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
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31 Oct 2024
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doi:10.47852/bonviewJDSIS42022961
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
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21 Oct 2024
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doi:10.5194/isprs-archives-XLVIII-4-2024-607-2024
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
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14 Oct 2024
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10.1109/TIM.2024.3470043
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
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09 Oct 2024
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doi:10.33012/2024.19805
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
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09 Oct 2024
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doi:10.33012/2024.19908
Indoor altitude estimation assisted by inertial compensation and online floor modeling
Ming Xia, Jiale Wang, Chuang Shi, Weisong Wen
Measurement Science and Technology
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05 Sep 2024
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10.1088/1361-6501/ad7487
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
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15 Jul 2024
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doi:10.1109/JIOT.2024.3396360
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
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22 Jun 2024
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10.1049/itr2.12524
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)
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13 May 2024
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10.1109/ICRA57147.2024.10611074
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
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08 May 2024
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doi:10.1088/1361-6501/ad440a
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
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14 Feb 2024
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10.33012/2024.19564
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
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01 Feb 2024
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10.1109/TIV.2023.3338141
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
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01 Jan 2024
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doi:10.1109/TIM.2024.3451578
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
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01 Jan 2024
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10.1109/TIV.2023.3282623
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
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01 Jan 2024
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10.1109/TIV.2023.3323648
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
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01 Jan 2024
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10.1109/TIV.2023.3339144
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
·
01 Jan 2024
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10.48550/arXiv.2402.11790
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
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01 Jan 2024
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10.1109/TIM.2024.3369156
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
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01 Jan 2024
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doi:10.33012/navi.660
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
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01 Jan 2024
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doi:10.1109/TIV.2023.3273185
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
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01 Jan 2024
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10.48550/arXiv.2404.14724
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
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01 Jan 2024
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doi:10.1109/TIV.2024.3406756
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
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01 Jan 2024
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doi:10.1109/TIV.2024.3419101
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
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01 Jan 2024
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doi:10.1109/TIV.2024.3467115
2023
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
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05 Oct 2023
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10.33012/2023.19447
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)
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25 Sep 2023
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10.1109/IPIN57070.2023.10332510
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)
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24 Sep 2023
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10.1109/ITSC57777.2023.10422537
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)
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24 Sep 2023
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10.1109/ITSC57777.2023.10422540
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)
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24 Sep 2023
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10.1109/ITSC57777.2023.10422216
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)
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24 Sep 2023
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10.1109/ITSC57777.2023.10422552
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)
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24 Sep 2023
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10.1109/ITSC57777.2023.10422196
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
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01 Sep 2023
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10.1007/s11804-023-00367-1
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
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25 May 2023
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10.5194/isprs-archives-XLVIII-1-W1-2023-227-2023
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
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25 May 2023
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doi:10.5194/isprs-archives-XLVIII-1-W1-2023-175-2023
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
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25 May 2023
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doi:10.5194/isprs-archives-XLVIII-1-W1-2023-473-2023
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)
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24 Apr 2023
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doi:10.1109/PLANS53410.2023.10140089
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)
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24 Apr 2023
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doi:10.1109/PLANS53410.2023.10139983
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
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13 Feb 2023
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doi:10.33012/2023.18637
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
·
01 Jan 2023
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10.33012/navi.590
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
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01 Jan 2023
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10.33012/navi.602
2022
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
·
01 Nov 2022
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doi:10.1109/MITS.2021.3092731
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
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20 Oct 2022
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doi:10.33012/2022.18382
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
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20 Oct 2022
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doi:10.33012/2022.18337
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
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20 Oct 2022
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doi:10.33012/2022.18545
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)
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08 Oct 2022
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doi:10.1109/ITSC55140.2022.9921814
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)
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08 Oct 2022
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doi:10.1109/ITSC55140.2022.9921906
3D LiDAR Aided GNSS NLOS Mitigation in Urban Canyons
Weisong Weisong Wen, Li-Ta Hsu
IEEE Transactions on Intelligent Transportation Systems
·
01 Oct 2022
·
doi:10.1109/TITS.2022.3167710
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
·
01 Oct 2022
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doi:10.1109/LRA.2022.3201694
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
·
20 Sep 2022
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doi:10.1049/itr2.12273
Safety-quantifiable Line Feature-based Monocular Visual Localization with 3D Prior Map
Xi Zheng, Weisong Wen, Li-Ta Hsu
arXiv
·
01 Jan 2022
·
doi:10.48550/arXiv.2211.15127
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
·
01 Jan 2022
·
doi:10.48550/arXiv.2212.05477
GNSS Outlier Mitigation via Graduated Non-Convexity Factor Graph Optimization
Weisong Wen, Guohao Zhang, Li-Ta Hsu
IEEE Transactions on Vehicular Technology
·
01 Jan 2022
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doi:10.1109/TVT.2021.3130909
AGPC-SLAM: Absolute Ground Plane Constrained 3D Lidar SLAM
Weisong Wen, Li-Ta Hsu
NAVIGATION: Journal of the Institute of Navigation
·
01 Jan 2022
·
10.33012/navi.527
2021
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
·
13 Oct 2021
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doi:10.33012/2021.18157
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
·
13 Oct 2021
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doi:10.33012/2021.18083
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
·
13 Oct 2021
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doi:10.33012/2021.17895
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
·
13 Oct 2021
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doi:10.33012/2021.17994
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
·
13 Oct 2021
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doi:10.33012/2021.18089
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
·
01 Oct 2021
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doi:10.1109/TITS.2020.2988531
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
·
17 Jun 2021
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doi:10.3390/rs13122371
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)
·
30 May 2021
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doi:10.1109/ICRA48506.2021.9562037
Factor graph optimization for GNSS/INS integration: A comparison with the extended Kalman filter
Weisong Wen, Tim Pfeifer, Xiwei Bai, Li‐Ta Hsu
NAVIGATION
·
22 May 2021
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doi:10.1002/navi.421
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
·
01 May 2021
·
doi:10.1109/TVT.2021.3069212
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
·
01 Feb 2021
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doi:10.1109/TITS.2019.2961128
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
·
01 Jan 2021
·
doi:10.1109/TIM.2021.3126010
2020
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
·
29 May 2020
·
doi:10.1049/iet-its.2019.0587
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
·
25 May 2020
·
doi:10.3390/rs12101686
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)
·
01 May 2020
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doi:10.1109/ICRA40945.2020.9196526
Extending Shadow Matching to Tightly-Coupled GNSS/INS Integration System
Guohao Zhang, Weisong Wen, Bing Xu, Li-Ta Hsu
IEEE Transactions on Vehicular Technology
·
01 May 2020
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doi:10.1109/TVT.2020.2981093
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)
·
01 Apr 2020
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doi:10.1109/PLANS46316.2020.9109963
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)
·
01 Apr 2020
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doi:10.1109/PLANS46316.2020.9109962
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)
·
01 Apr 2020
·
doi:10.1109/PLANS46316.2020.9110157
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
·
01 Jan 2020
·
doi:10.48550/arXiv.2004.10572
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
·
01 Jan 2020
·
doi:10.48550/arXiv.2008.03694
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
·
01 Jan 2020
·
doi:10.1109/MITS.2020.2994131
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
·
01 Jan 2020
·
doi:10.1109/ACCESS.2020.3006210
2019
Correcting NLOS by 3D LiDAR and building height to improve GNSS single point positioning
Weisong Wen, Guohao Zhang, Li‐Ta Hsu
Navigation
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01 Dec 2019
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doi:10.1002/navi.335
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)
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01 Dec 2019
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doi:10.1109/CIS.2019.00063
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
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01 Nov 2019
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doi:10.1109/TVT.2019.2944680
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
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11 Oct 2019
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doi:10.33012/2019.17129
Rectification of GNSS-based collaborative positioning using 3D building models in urban areas
Guohao Zhang, Weisong Wen, Li-Ta Hsu
GPS Solutions
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06 Jun 2019
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doi:10.1007/s10291-019-0872-9
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
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01 Mar 2019
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doi:10.1049/el.2018.8075
2018
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
·
14 Nov 2018
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doi:10.3390/s18113928
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)
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01 Apr 2018
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doi:10.1109/PLANS.2018.8373377
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)
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01 Apr 2018
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doi:10.1109/PLANS.2018.8373540