TAS LAB Trustworthy Autonomous Systems Laboratory

Publications

Highlighted

GNSS NLOS Exclusion Based on Dynamic Object Detection Using LiDAR Point Cloud
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  ·  doi:10.1109/TITS.2019.2961128

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2024

Factor Graph Optimization-Based Smartphone IMU-Only Indoor SLAM With Multihypothesis Turning Behavior Loop Closures
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  ·  01 Dec 2024  ·  doi:10.1109/TAES.2024.3430256
Invariant Extended Kalman Filtering for Pedestrian Deep-Inertial Odometry
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  ·  21 Oct 2024  ·  doi:10.5194/isprs-archives-XLVIII-4-2024-607-2024
Factor Graph Optimization Based Multi Epoch Ambiguity Resolution for GNSS RTK and its Evaluation in Hong Kong Urban Canyons
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  ·  09 Oct 2024  ·  doi:10.33012/2024.19805
DGNSS Corrected Pseudorange and Time-Differenced Carrier Phase TDCP Measurements using Differentiable Factor Graph Optimization DFGO
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  ·  09 Oct 2024  ·  doi:10.33012/2024.19908
RELEAD: Resilient Localization with Enhanced LiDAR Odometry in Adverse Environments
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)  ·  13 May 2024  ·  10.1109/ICRA57147.2024.10611074
FGO-MFI: factor graph optimization-based multi-sensor fusion and integration for reliable localization
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  ·  08 May 2024  ·  doi:10.1088/1361-6501/ad440a
A Fault Detection Algorithm for LiDAR IMU Integrated Localization Systems with Non-Gaussian Noises
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  ·  14 Feb 2024  ·  10.33012/2024.19564
Dynamic Object-Aware LiDAR Odometry Aided by Joint Weightings Estimation in Urban Areas
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  ·  01 Feb 2024  ·  10.1109/TIV.2023.3338141
ECMD: An Event-Centric Multisensory Driving Dataset for SLAM
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  ·  01 Jan 2024  ·  10.1109/TIV.2023.3339144
CoLRIO: LiDAR-Ranging-Inertial Centralized State Estimation for Robotic Swarms
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  ·  10.48550/arXiv.2402.11790
ECMD: An Event-Centric Multisensory Driving Dataset for SLAM
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  ·  01 Jan 2024  ·  doi:10.1109/TIV.2023.3339144

2023

3D LiDAR Aided GNSS NLOS Correction with Direction of Arrival Estimation Using Doppler Measurements
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  ·  05 Oct 2023  ·  10.33012/2023.19447
Tightly Joining Positioning and Control for Trustworthy Unmanned Aerial Vehicles Based on Factor Graph Optimization in Urban Transportation
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)  ·  24 Sep 2023  ·  10.1109/ITSC57777.2023.10422537
Adaptive Multi-Sensor Integrated Navigation System Aided by Continuous Error Map from RSU for Autonomous Vehicles in Urban Areas
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)  ·  24 Sep 2023  ·  10.1109/ITSC57777.2023.10422216
Roadside Infrastructure assisted LiDAR Inertial-based Mapping for Intelligent Vehicles in Urban Areas
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)  ·  24 Sep 2023  ·  10.1109/ITSC57777.2023.10422552
Tightly-coupled Line Feature-aided Visual Inertial Localization within Lightweight 3D Prior Map for Intelligent Vehicles
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)  ·  24 Sep 2023  ·  10.1109/ITSC57777.2023.10422196
Deep Learning in Maritime Autonomous Surface Ships: Current Development and Challenges
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  ·  01 Sep 2023  ·  10.1007/s11804-023-00367-1
SMARTPHONE LEVEL INDOOR OUTDOOR UBIQUITOUS PEDESTRIAN POSITIONING 3DMA GNSS VINS INTEGRATION USING FGO
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  ·  25 May 2023  ·  doi:10.5194/isprs-archives-XLVIII-1-W1-2023-175-2023
MULTI-ROBOT COOPERATIVE LIDAR SLAM FOR EFFICIENT MAPPING IN URBAN SCENES
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  ·  25 May 2023  ·  doi:10.5194/isprs-archives-XLVIII-1-W1-2023-473-2023
Integration of Vehicle Dynamic Model and System Identified Model for Navigation in Autonomous Mobile Robots
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  ·  13 Feb 2023  ·  doi:10.33012/2023.18637
Hong Kong UrbanNav: An Open-Source Multisensory Dataset for Benchmarking Urban Navigation Algorithms
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  ·  01 Jan 2023  ·  10.33012/navi.602

2022

Real-time Factor Graph Optimization Aided by Graduated Non-convexity Based Outlier Mitigation for Smartphone Decimeter Challenge
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  ·  20 Oct 2022  ·  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
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  ·  20 Oct 2022  ·  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
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  ·  20 Oct 2022  ·  doi:10.33012/2022.18545
LiDAR Aided Cycle Slip Detection for GNSS Real-Time Kinematic Positioning in Urban Environments
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)  ·  08 Oct 2022  ·  doi:10.1109/ITSC55140.2022.9921814
GNSS Outliers Mitigation in Urban Areas Using Sparse Estimation Based on Factor Graph Optimization
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)  ·  08 Oct 2022  ·  doi:10.1109/ITSC55140.2022.9921906
Continuous and Precise Positioning in Urban Environments by Tightly Coupled Integration of GNSS, INS and Vision
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  ·  doi:10.1109/LRA.2022.3201694
AGPC-SLAM: Absolute Ground Plane Constrained 3D Lidar SLAM
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
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  ·  doi:10.33012/2021.18157
A Coarse-to-Fine LiDAR-Based SLAM with Dynamic Object Removal in Dense Urban Areas
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  ·  doi:10.33012/2021.18083
UrbanNav:An Open-Sourced Multisensory Dataset for Benchmarking Positioning Algorithms Designed for Urban Areas
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  ·  doi:10.33012/2021.17895
3D LiDAR Aided GNSS Real-time Kinematic Positioning
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  ·  13 Oct 2021  ·  doi:10.33012/2021.18072
3D Mapping Aided GNSS Using Gauss-Newton Algorithm: An Example on GNSS Shadow Matching
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  ·  doi:10.33012/2021.17994
Continuous GNSS-RTK Aided by LiDAR Inertial Odometry with Intelligent GNSS Selection in Urban Canyons
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  ·  doi:10.33012/2021.18089
Towards Robust GNSS Positioning and Real-time Kinematic Using Factor Graph Optimization
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  ·  doi:10.1109/ICRA48506.2021.9562037
GNSS NLOS Exclusion Based on Dynamic Object Detection Using LiDAR Point Cloud
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  ·  doi:10.1109/TITS.2019.2961128

2020

3D LiDAR Aided GNSS and Its Tightly Coupled Integration with INS Via Factor Graph Optimization
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  ·  28 Oct 2020  ·  doi:10.33012/2020.17557
Using Sky pointing fish eye camera and LiDAR to aid GNSS single point positioning in urban canyons
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
UrbanLoco: A Full Sensor Suite Dataset for Mapping and Localization in Urban Scenes
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  ·  doi:10.1109/ICRA40945.2020.9196526
Perception-aided Visual-Inertial Integrated Positioning in Dynamic Urban Areas
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  ·  doi:10.1109/PLANS46316.2020.9109963

2019

Combining Deep Gaussian Process and Rule-Based Method for Decision-Making in Self-Driving Simulation with Small Data
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)  ·  01 Dec 2019  ·  doi:10.1109/CIS.2019.00063
Tightly Coupled GNSS INS Integration via Factor Graph and Aided by Fish-Eye Camera
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  ·  01 Nov 2019  ·  doi:10.1109/TVT.2019.2944680
Performance Comparison of GNSS INS Integrations Based on EKF and Factor Graph Optimization
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  ·  11 Oct 2019  ·  doi:10.33012/2019.17129

2018

Correcting GNSS NLOS by 3D LiDAR and Building Height
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  ·  26 Oct 2018  ·  doi:10.33012/2018.15984
Collaborative GNSS Positioning with the Aids of 3D City Models
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  ·  26 Oct 2018  ·  doi:10.33012/2018.15830