6 papers · 1 filter
A Decentralized LiDAR-SLAM System with Certifiably Optimal Pose Graph Optimization
Baoshan Song, Feng Huang, Li-Ta Hsu
Decentralized multi-robot LiDAR-SLAM is essential for collaborative missions but faces significant challenges in maintaining global consistency. Existing frameworks predominantly r…
Certifiable Alignment of GNSS and Local Frames via Lagrangian Duality
Baoshan Song, Matthew Giamou, Penggao Yan +2
Estimating the absolute orientation of a local system relative to a global navigation satellite system (GNSS) reference often suffers from local minima and high dependency on satel…
Degeneration of Sliding-Window Factor Graph Optimization into Iterated Extended Kalman Filtering
Baoshan Song, Ruijie Xu, Zhi Zhan +1
Sliding window factor graph optimization (SW-FGO) is widely recognized for its robustness, yet its theoretical relationship with the extended Kalman filter (EKF) remains a subject…
Online IMU-odometer Calibration using GNSS Measurements for Autonomous Ground Vehicle Localization
Baoshan Song, Xiao Xia, Penggao Yan +3
Accurate calibration of intrinsic (odometer scaling factors) and extrinsic parameters (IMU-odometer translation and rotation) is essential for autonomous ground vehicle localizatio…
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…