119 citations · 190 across the 16 of their papers we have counts for
16 papers
High-Accuracy Absolute-Position-Aided Code Phase Tracking Based on RTK/INS Deep Integration in Challenging Static Scenarios
Yiran Luo, Li-Ta Hsu, Yang Jiang +4
Many multi-sensor navigation systems urgently demand accurate positioning initialization from global navigation satellite systems (GNSSs) in challenging static scenarios. However,…
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 (…
DynaVIG: Monocular Vision/INS/GNSS Integrated Navigation and Object Tracking for AGV in Dynamic Scenes
Ronghe Jin, Yan Wang, Zhi Gao +3
Visual-Inertial Odometry (VIO) usually suffers from drifting over long-time runs, the accuracy is easily affected by dynamic objects. We propose DynaVIG, a navigation and object tr…
3D LiDAR Aided GNSS NLOS Mitigation in Urban Canyons
Weisong Wen, Li-Ta Hsu
In this paper, we propose a 3D LiDAR aided global navigation satellite system (GNSS) non-line-of-sight (NLOS) mitigation method caused by both static buildings and dynamic objects.…
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…
Semantic 3D Map Change Detection and Update based on Smartphone Visual Positioning System
Max Jwo Lem Lee, Li-Ta Hsu
Accurate localization and 3D maps are increasingly needed for various artificial intelligence based IoT applications such as augmented reality, intelligent transportation, crowd mo…
Semantic-Based VPS for Smartphone Localization in Challenging Urban Environments
Max Jwo Lem Lee, Li-Ta Hsu, Hoi-Fung Ng +1
Accurate smartphone-based outdoor localization system in deep urban canyons are increasingly needed for various IoT applications such as augmented reality, intelligent transportati…
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…