119 citations · 191 across the 19 of their papers we have counts for
19 papers
UrbanV2X: A Multisensory Vehicle-Infrastructure Dataset for Cooperative Navigation in Urban Areas
Qijun Qin, Ziqi Zhang, Yihan Zhong +9
Due to the limitations of a single autonomous vehicle, Cellular Vehicle-to-Everything (C-V2X) technology opens a new window for achieving fully autonomous driving through sensor in…
Two stage GNSS outlier detection for factor graph optimization based GNSS-RTK/INS/odometer fusion
Baoshan Song, Penggao Yan, Xiao Xia +3
Reliable GNSS positioning in complex environments remains a critical challenge due to non-line-of-sight (NLOS) propagation, multipath effects, and frequent signal blockages. These…
Initialization-Free LEO Doppler Positioning via Semidefinite Relaxation: A Cold-Start Approach
Baoshan Song, Weisong Wen, Qi Zhang +4
Low Earth Orbit (LEO) satellite Doppler measurements offer an alternative source of positioning information for Internet of Things devices when Global Navigation Satellite System s…
pyrtklib: An open-source package for tightly coupled deep learning and GNSS integration for positioning in urban canyons
Runzhi Hu, Penghui Xu, Yihan Zhong +1
Artificial intelligence (AI) is revolutionizing numerous fields, with increasing applications in Global Navigation Satellite Systems (GNSS) positioning algorithms in intelligent tr…
Tightly Joined Positioning and Control Model for Unmanned Aerial Vehicles Based on Factor Graph Optimization
Peiwen Yang, Weisong Wen, Shiyu Bai +1
The execution of flight missions by unmanned aerial vehicles (UAV) primarily relies on navigation. In particular, the navigation pipeline has traditionally been divided into positi…
ECMD: An Event-Centric Multisensory Driving Dataset for SLAM
Peiyu Chen, Weipeng Guan, Feng Huang +4
Leveraging multiple sensors enhances complex environmental perception and increases resilience to varying luminance conditions and high-speed motion patterns, achieving precise loc…
Tightly Joining Positioning and Control for Trustworthy Unmanned Aerial Vehicles Based on Factor Graph Optimization in Urban Transportation
Peiwen Yang, Weisong Wen
Unmanned aerial vehicles (UAV) showed great potential in improving the efficiency of parcel delivery applications in the coming smart cities era. Unfortunately, the trustworthy pos…
3D LiDAR Aided GNSS NLOS Mitigation for Reliable GNSS-RTK Positioning in Urban Canyons
Xikun Liu, Weisong Wen, Feng Huang +3
GNSS and LiDAR odometry are complementary as they provide absolute and relative positioning, respectively. Their integration in a loosely-coupled manner is straightforward but is c…
Trajectory Smoothing Using GNSS/PDR Integration Via Factor Graph Optimization in Urban Canyons
Yihan Zhong, Weisong Wen, Li-Ta Hsu
Accurate and smooth global navigation satellite system (GNSS) positioning for pedestrians in urban canyons is still a challenge due to the multipath effects and the non-light-of-si…
Safety-quantifiable Line Feature-based Monocular Visual Localization with 3D Prior Map
Xi Zheng, Weisong Wen, Li-Ta Hsu
Accurate and safety-quantifiable localization is of great significance for safety-critical autonomous systems, such as unmanned ground vehicles (UGV) and unmanned aerial vehicles (…
Time-correlated Window Carrier-phase Aided GNSS Positioning Using Factor Graph Optimization for Urban Positioning
Xiwei Bai, Weisong Wen, Li-Ta Hsu
This paper proposes an improved global navigation satellite system (GNSS) positioning method that explores the time correlation between consecutive epochs of the code and carrier p…
GNSS Outlier Mitigation Via Graduated Non-Convexity Factor Graph Optimization
Weisong Wen, Guohao Zhang, Li-Ta Hsu
Accurate and globally referenced global navigation satellite system (GNSS) based vehicular positioning can be achieved in outlier-free open areas. However, the performance of GNSS…
Towards Robust GNSS Positioning and Real-time Kinematic Using Factor Graph Optimization
Weisong Wen, Li-Ta Hsu
Global navigation satellite systems (GNSS) are one of the utterly popular sources for providing globally referenced positioning for autonomous systems. However, the performance of…
Point wise or Feature wise? Benchmark Comparison of Public Available LiDAR Odometry Algorithms in Urban Canyons
Feng Huang, Weisong Wen, Jiachen Zhang +1
Robust and precise localization is essential for the autonomous system with navigation requirements. Light detection and ranging (LiDAR) odometry is extensively studied in the past…
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 +1
LiDAR-based SLAM algorithms are extensively studied to providing robust and accurate positioning for autonomous driving vehicles (ADV) in the past decades. Satisfactory performance…
It is time for Factor Graph Optimization for GNSS/INS Integration: Comparison between FGO and EKF
Weisong Wen, Tim Pfeifer, Xiwei Bai +1
The recently proposed factor graph optimization (FGO) is adopted to integrate GNSS/INS attracted lots of attention and improved the performance over the existing EKF-based GNSS/INS…
UrbanLoco: A Full Sensor Suite Dataset for Mapping and Localization in Urban Scenes
Weisong Wen, Yiyang Zhou, Guohao Zhang +5
Mapping and localization is a critical module of autonomous driving, and significant achievements have been reached in this field. Beyond Global Navigation Satellite System (GNSS),…
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
Robust and lane-level positioning is essential for autonomous vehicles. As an irreplaceable sensor, LiDAR can provide continuous and high-frequency pose estimation by means of mapp…
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
Absolute positioning is an essential factor for the arrival of autonomous driving. Global Navigation Satellites System (GNSS) receiver provides absolute localization for it. GNSS s…