17 citations · 31 across the 9 of their papers we have counts for
9 papers · 1 filter
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…
Certifiably Optimal Doppler Positioning using Opportunistic LEO Satellites
Baoshan Song, Weisong Wen, Qi Zhang +2
To provide backup and augmentation to global navigation satellite system (GNSS), Doppler shift from Low Earth Orbit (LEO) satellites can be employed as signals of opportunity (SOP)…
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 (…
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…
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…