Publications
Highlighted
GNSS NLOS Exclusion Based on Dynamic Object Detection Using LiDAR Point Cloud
IEEE Transactions on Intelligent Transportation Systems
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01 Feb 2021
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doi:10.1109/TITS.2019.2961128
All
2024
Factor Graph Optimization-Based Smartphone IMU-Only Indoor SLAM With Multihypothesis Turning Behavior Loop Closures
IEEE Transactions on Aerospace and Electronic Systems
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01 Dec 2024
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doi:10.1109/TAES.2024.3430256
Invariant Extended Kalman Filtering for Pedestrian Deep-Inertial Odometry
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
Factor Graph Optimization Based Multi Epoch Ambiguity Resolution for GNSS RTK and its Evaluation in Hong Kong Urban Canyons
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)
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
Measurement Science and Technology
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05 Sep 2024
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doi:10.1088/1361-6501/ad7487
Trajectory Smoothing Using GNSS/PDR Integration via Factor Graph Optimization in Urban Canyons
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
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
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
Measurement Science and Technology
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08 May 2024
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doi:10.1088/1361-6501/ad440a
Tightly Joined Positioning and Control Model for Unmanned Aerial Vehicles Based on Factor Graph Optimization
arXiv
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22 Apr 2024
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doi:arXiv.2404.14724
A Fault Detection Algorithm for LiDAR/IMU Integrated Localization Systems with Non-Gaussian Noises
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
IEEE Transactions on Intelligent Vehicles
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01 Feb 2024
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10.1109/TIV.2023.3338141
GLIO: Tightly-Coupled GNSS/LiDAR/IMU Integration for Continuous and Drift-Free State Estimation of Intelligent Vehicles in Urban Areas
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
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
arXiv
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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
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
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
IEEE Transactions on Intelligent Vehicles
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01 Jan 2024
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doi:10.1109/TIV.2023.3273185
ECMD: An Event-Centric Multisensory Driving Dataset for SLAM
IEEE Transactions on Intelligent Vehicles
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01 Jan 2024
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doi:10.1109/TIV.2023.3339144
A Novel Consistent-Robust SINS/GNSS/NHC Integrated Navigation Method for Autonomous Vehicles Under Intermittent GNSS Outage
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
IEEE Transactions on Intelligent Vehicles
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01 Jan 2024
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doi:10.1109/TIV.2024.3419101
Subspace-based Adaptive GMM Error Modeling for Fault-Aware Pseudorange-based Positioning in Urban Canyons
IEEE Transactions on Intelligent Vehicles
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01 Jan 2024
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doi:10.1109/TIV.2024.3450198
Nonlinearity-Aware ZUPT-Aided Pedestrian Inertial Navigation Based on Cubature Kalman Filter in Urban Canyons
IEEE Transactions on Instrumentation and Measurement
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01 Jan 2024
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doi:10.1109/TIM.2024.3451578
Safety-Quantifiable Planar-Feature-based LiDAR Localization with a Prior Map for Intelligent Vehicles in Urban Scenarios
IEEE Transactions on Intelligent Vehicles
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01 Jan 2024
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doi:10.1109/TIV.2024.3467115
Toward Persistent Spatial Awareness: A Review of Pedestrian Dead Reckoning-Centric Indoor Positioning With Smartphones
IEEE Transactions on Instrumentation and Measurement
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01 Jan 2024
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doi:10.1109/TIM.2024.3470043
Enhancing Smartphone-based Pedestrian Positioning: Using Factor Graph Optimization with Indoor/Outdoor Detection for 3DMA GNSS/Visual-Inertial State Estimation
Journal of Data Science and Intelligent Systems
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01 Jan 2024
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doi:10.47852/bonviewJDSIS42022961
2023
3D LiDAR Aided GNSS NLOS Correction with Direction of Arrival Estimation Using Doppler Measurements
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
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
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
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
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
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
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
Journal of Marine Science and Application
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01 Sep 2023
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10.1007/s11804-023-00367-1
SMARTPHONE LEVEL INDOOR/OUTDOOR UBIQUITOUS PEDESTRIAN POSITIONING 3DMA GNSS/VINS INTEGRATION USING FGO
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
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
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
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
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
NAVIGATION: Journal of the Institute of Navigation
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01 Jan 2023
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10.33012/navi.590
Hong Kong UrbanNav: An Open-Source Multisensory Dataset for Benchmarking Urban Navigation Algorithms
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
IEEE Intelligent Transportation Systems Magazine
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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
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
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
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
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
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
IEEE Transactions on Intelligent Transportation Systems
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01 Oct 2022
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doi:10.1109/TITS.2022.3167710
Continuous and Precise Positioning in Urban Environments by Tightly Coupled Integration of GNSS, INS and Vision
IEEE Robotics and Automation Letters
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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
IET Intelligent Transport Systems
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20 Sep 2022
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doi:10.1049/itr2.12273
Safety-quantifiable Line Feature-based Monocular Visual Localization with 3D Prior Map
arXiv
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01 Jan 2022
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doi:10.48550/arXiv.2211.15127
3D LiDAR Aided GNSS NLOS Mitigation for Reliable GNSS-RTK Positioning in Urban Canyons
arXiv
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01 Jan 2022
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doi:10.48550/arXiv.2212.05477
GNSS Outlier Mitigation via Graduated Non-Convexity Factor Graph Optimization
IEEE Transactions on Vehicular Technology
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01 Jan 2022
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doi:10.1109/TVT.2021.3130909
AGPC-SLAM: Absolute Ground Plane Constrained 3D Lidar SLAM
NAVIGATION: Journal of the Institute of Navigation
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01 Jan 2022
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10.33012/navi.527
2021
Integrity Monitoring for GNSS Positioning Via Factor Graph Optimization in Urban Canyons
ION GNSS+, The International Technical Meeting of the Satellite Division of The Institute of Navigation
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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
ION GNSS+, The International Technical Meeting of the Satellite Division of The Institute of Navigation
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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
ION GNSS+, The International Technical Meeting of the Satellite Division of The Institute of Navigation
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13 Oct 2021
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doi:10.33012/2021.17895
3D LiDAR Aided GNSS Real-time Kinematic Positioning
ION GNSS+, The International Technical Meeting of the Satellite Division of The Institute of Navigation
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13 Oct 2021
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doi:10.33012/2021.18072
3D Mapping Aided GNSS Using Gauss-Newton Algorithm: An Example on GNSS Shadow Matching
ION GNSS+, The International Technical Meeting of the Satellite Division of The Institute of Navigation
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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
ION GNSS+, The International Technical Meeting of the Satellite Division of The Institute of Navigation
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13 Oct 2021
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doi:10.33012/2021.18089
3D Mapping Database Aided GNSS Based Collaborative Positioning Using Factor Graph Optimization
IEEE Transactions on Intelligent Transportation Systems
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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
Remote Sensing
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17 Jun 2021
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doi:10.3390/rs13122371
Towards Robust GNSS Positioning and Real-time Kinematic Using Factor Graph Optimization
2021 IEEE International Conference on Robotics and Automation (ICRA)
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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
NAVIGATION
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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
IEEE Transactions on Vehicular Technology
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01 May 2021
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doi:10.1109/TVT.2021.3069212
GNSS NLOS Exclusion Based on Dynamic Object Detection Using LiDAR Point Cloud
IEEE Transactions on Intelligent Transportation Systems
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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
IEEE Transactions on Instrumentation and Measurement
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01 Jan 2021
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doi:10.1109/TIM.2021.3126010
2020
3D LiDAR Aided GNSS and Its Tightly Coupled Integration with INS Via Factor Graph Optimization
ION GNSS+, The International Technical Meeting of the Satellite Division of The Institute of Navigation
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28 Oct 2020
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doi:10.33012/2020.17557
Using Sky‐pointing fish‐eye camera and LiDAR to aid GNSS single‐point positioning in urban canyons
IET Intelligent Transport Systems
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29 May 2020
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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
Remote Sensing
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25 May 2020
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doi:10.3390/rs12101686
UrbanLoco: A Full Sensor Suite Dataset for Mapping and Localization in Urban Scenes
2020 IEEE International Conference on Robotics and Automation (ICRA)
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01 May 2020
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doi:10.1109/ICRA40945.2020.9196526
Extending Shadow Matching to Tightly-Coupled GNSS/INS Integration System
IEEE Transactions on Vehicular Technology
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01 May 2020
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doi:10.1109/TVT.2020.2981093
Perception-aided Visual-Inertial Integrated Positioning in Dynamic Urban Areas
2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)
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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
2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)
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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
2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)
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01 Apr 2020
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doi:10.1109/PLANS46316.2020.9110157
It is time for Factor Graph Optimization for GNSS/INS Integration: Comparison between FGO and EKF
arXiv
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01 Jan 2020
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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
arXiv
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01 Jan 2020
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doi:10.48550/arXiv.2008.03694
Object-Detection-Aided GNSS and Its Integration With Lidar in Highly Urbanized Areas
IEEE Intelligent Transportation Systems Magazine
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01 Jan 2020
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doi:10.1109/MITS.2020.2994131
Multi-Agent Collaborative GNSS/Camera/INS Integration Aided by Inter-Ranging for Vehicular Navigation in Urban Areas
IEEE Access
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01 Jan 2020
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doi:10.1109/ACCESS.2020.3006210
2019
Correcting NLOS by 3D LiDAR and building height to improve GNSS single point positioning
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
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
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
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
GPS Solutions
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06 Jun 2019
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doi:10.1007/s10291-019-0872-9
Real-time GNSS NLOS Detection and Correction Aided by Sky-Pointing Camera and 3D LiDAR
ION Pacific PNT
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01 May 2019
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doi:10.33012/2019.16845
Uncertainty estimation of LiDAR matching aided by dynamic vehicle detection and high definition map
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
Sensors
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14 Nov 2018
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doi:10.3390/s18113928
Correcting GNSS NLOS by 3D LiDAR and Building Height
ION GNSS+, The International Technical Meeting of the Satellite Division of The Institute of Navigation
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26 Oct 2018
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doi:10.33012/2018.15984
Collaborative GNSS Positioning with the Aids of 3D City Models
ION GNSS+, The International Technical Meeting of the Satellite Division of The Institute of Navigation
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26 Oct 2018
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doi:10.33012/2018.15830
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
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
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