multi-sensor fusionGNSS/INSLiDAR-inertial odometryvisual-inertial odometryUWBWi-Fi RTTsmartphoneswearablesrobots / vehicles / dronesindoor/outdoor seamless positioning
Pillar lead: Li-Ta Hsu
We build navigation systems for real platforms — vehicles, robots, drones, smartphones, wearables. These require tight GNSS/INS/LiDAR/camera/UWB/Wi-Fi fusion, robustness to low-cost sensors, and seamless operation across open-sky, urban canyon, indoor, and GNSS-denied conditions.
The thread spans smartphone-grade urban positioning (3DMA GNSS for L5/E5a/B2a smartphone receivers; ITF-ITSP HK$801k AI-aided Smartphone Urban Positioning for HK Smart Cities), autonomous-vehicle perception integration (LiDAR + camera + GNSS + INS), UAV navigation (Limin Endowed Young Scholar in Aerospace Navigation), and indoor positioning anchored by the 2026 Artech House book Principles of Indoor Positioning and Indoor Navigation (Hsu, Zhang, Wen) and IPIN 2024 General Chair role.
Funded projects. The ITF-ITSP smartphone-positioning project completed its funded period in May 2026. A new RIAIoT Seed Fund award for road-to-parking vehicle positioning was approved in September 2026, supporting research on multimodal fusion across outdoor and covered-parking transitions.
Lab Contributors
Weisong Wen (42)
Guohao Zhang (19)
Feng Huang (12)
Xiwei Bai (10)
Hoi-Fung Ng (8)
Yihan Zhong (8)
Shiyu Bai (7)
Jiachen Zhang (5)
Dongzhe Su (4)
Dabin Xue (3)
Runzhi Hu (3)
Bing Xu (2)
Jiachong Chang (2)
Liang Zhang (2)
Penggao Yan (2)
Yuan Li (2)
Abhijit Dey (1)
Max Jwo-Lem Lee (1)
Meiling Su (1)
Qian Meng (1)
Sai Hu (1)
Xiao Xia (1)
Related Projects
- Multi-Agent Collaborative GNSS for Intelligent Transportation Systems completed
- Stairio: Autonomous Staircase Safety Monitoring Robot active
- UrbanNav active
- LunaNav: Lunar Robotic Exploration funding-completed
- Robust GNSS Navigation for Urban Air Traffic Management active
- UrbanLoco maintained
- GraphGNSSLib active
- Universal Vehicle Self-Diagnosis: Predictive Component Monitoring active
- 3D Map-Aided GNSS (3DMA) for Smartphone and IoT active
- Environment-Aware GNSS for UAS and Autonomous Driving active
- Seamless Vehicle Positioning Across Road-to-Parking Transitions awarded
Related Publications
2026 (5)
book
Hsu, L. T., Zhang, G., & Wen, W. (2026).Principles of Indoor Positioning and Indoor Navigation. Artech House Publishers Inc.
patent
Lee, J& Hsu, L. T (2026).Multi-feature visual positioning method (ZL 202110638139.9). China National Intellectual Property Administration. https://patents.google.com/patent/CN115527044B
journal
Q1
Song, B., Xia, X., Yan, P., Zhong, Y., Wen, W., & Hsu, L.-T. (2026).Online IMU-Odometer Calibration Using GNSS Measurements for Autonomous Ground Vehicle Localization. IEEE Transactions on Intelligent Transportation Systems. https://doi.org/10.1109/tits.2026.3706684
journal
Q1
Liang, Q., Zhang, G., & Hsu, L.-T. (2026).Accurate Wi-Fi RTT indoor positioning with NLOS mitigation by floor map: a multi-wall modeling approach. IEEE Transactions on Instrumentation and Measurement. https://doi.org/10.1109/TIM.2024.3436101
journal
Q1
Song, B., Giamou, M., Yan, P., Xia, C., & Hsu, L.-T. (2026).Certifiable Alignment of GNSS and Local Frames via Lagrangian Duality. IEEE Robotics and Automation Letters. https://doi.org/10.1109/LRA.2026.3693943
2025 (8)
patent
Wang, Q, Huang, X, Shaheer, M, Mohammad, T, Zhang, X, Luo, M, Hsu, L. T, & Usmani, A (2025).Indoor Fire Monitoring Based on Look-Up-From-Floor Sensing of Ceiling (granted) (US 12,292,340 B2). U.S. Patent and Trademark Office. https://patents.google.com/patent/US12292340B2
patent
Lee, J& Hsu, L. T (2025).Visual Positioning System (provisional) (US 63/840,727 (provisional)). U.S. Patent and Trademark Office.
journal
Q1
Featured page
Bai, S., Wen, W., Su, D., & Hsu, L. T. (2025).Graph-Based Indoor 3D Pedestrian Location Tracking With Inertial-Only Perception. IEEE Transactions on Mobile Computing. https://doi.org/10.1109/tmc.2025.3526196
journal
Q1
Zheng, X., Wen, W., & Hsu, L. T. (2025).Safety-quantifiable line feature-based monocular visual localization with 3d prior map. IEEE Transactions on Intelligent Transportation Systems. https://doi.org/10.1109/tits.2025.3572620
journal
Q1
Featured page
Lee, M. J. L., Lin, J., Zhang, G., & Hsu, L. T. (2025).Framework for Low-Cost Indoor Smartphone Camera-based Localization Using Spherical Panorama and BIM. IEEE Sensors Journal. https://doi.org/10.1109/jsen.2025.3613996
journal
Q1
Yang, P., Wen, W., Bai, S., & Hsu, L. T. (2025).Tightly joined positioning and control model for unmanned aerial vehicles based on factor graph optimization. IEEE Transactions on Vehicular Technology. https://doi.org/10.1109/tvt.2025.3589556
conference
Huang, F., Zhong, Y., Chen, H., Dongzhe, Su, Jin, Wu, Wen, W., & Hsu, L.-T. (2025).Roadside GNSS Aided Multi-Sensor Integrated System for Vehicle Positioning in Urban Areas. 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). https://doi.org/10.1109/IROS60139.2025.11246475
conference
Zhong, Y., Hoi-Fung, Ng, Hsu, L.-T., & Wen, W. (2025).GNSS/Map Integration with Batch Factor Graph Optimization for Reliable Trajectory Estimation in Urban Canyon. 2025 IEEE/ION Position, Location and Navigation Symposium (PLANS). https://doi.org/10.1109/PLANS61210.2025.11028209
2024 (18)
patent
Wang, Q, Huang, X, Shaheer, M, Mohammad, T, Zhang, X, Luo, M, Hsu, L. T, X, W., Xiao, F, & Usmani, A (2024).Indoor Fire Monitoring Based on Look-Up-From-Floor Sensing of Ceiling (US 2023/0062745 A1). U.S. Patent and Trademark Office. https://patents.google.com/patent/US20230062745A1
patent
Wang, Q, Huang, X, Shaheer, M, Mohammad, T, Zhang, X, Luo, M, Hsu, L. T, X, W., Xiao, F, & Usmani, A (2024).Indoor Fire Monitoring Based on Look-Up-From-Floor Sensing of Ceiling (granted) (ZL 202211006213.6). China National Intellectual Property Administration (CNIPA).
patent
Wang, Q, Huang, X, Shaheer, M, Mohammad, T, Zhang, X, Luo, M, Hsu, L. T, X, W., Xiao, F, & Usmani, A (2024).Indoor Fire Monitoring Based on Look-Up-From-Floor Sensing of Ceiling (granted) (US 11,860,043 B2). U.S. Patent and Trademark Office. https://patents.google.com/patent/US11860043B2
journal
Q3
Hu, R., Bai, S., Wen, W., Xia, X., & Hsu, L. T. (2024).Towards high‐definition vector map construction based on multi‐sensor integration for intelligent vehicles: Systems and error quantification. IET Intelligent Transport Systems. https://doi.org/10.1049/itr2.12524
journal
Q1
Featured page
Iyer, K., Dey, A., Xu, B., Sharma, N., & Hsu, L. T. (2024).Enhancing positioning in GNSS denied environments based on an extended Kalman filter using past GNSS measurements and IMU. IEEE Transactions on Vehicular Technology. https://doi.org/10.1109/tvt.2024.3360076
journal
Q1
Zhong, Y., Hu, R., Bai, X., Li, X., Hsu, L. T., & Wen, W. (2024).Enhancing GNSS Positioning Accuracy for Road Monitoring Systems: A Factor Graph Optimization Approach Aided by Geospatial Information. IEEE Transactions on Instrumentation and Measurement. https://doi.org/10.1109/tim.2024.3369156
journal
Q1
Zhong, Y., Wen, W., & Hsu, L. T. (2024).Trajectory Smoothing Using GNSS/PDR Integration Via Factor Graph Optimization in Urban Canyons. IEEE Internet of Things Journal. https://doi.org/10.1109/jiot.2024.3396360
journal
Q1
Bai, X.& Hsu, L. T. (2024).GNSS/Visual/IMU/Map Integration Via Sliding Window Factor Graph Optimization for Vehicular Positioning in Urban Areas. IEEE Transactions on Intelligent Vehicles. https://doi.org/10.1109/tiv.2024.3412208
journal
Q1
Zheng, X., Wen, W., & Hsu, L. T. (2024).Tightly-coupled visual/inertial/map integration with observability analysis for reliable localization of intelligent vehicles. IEEE Transactions on Intelligent Vehicles. https://doi.org/10.1109/tiv.2024.3419101
journal
Q1
Bai, S., Wen, W., Hsu, L. T., & Yang, P. (2024).Factor Graph Optimization-Based Smartphone IMU-Only Indoor SLAM With Multi-Hypothesis Turning Behavior Loop Closures. IEEE Transactions on Aerospace and Electronic Systems. https://doi.org/10.1109/taes.2024.3430256
journal
Q1
Zhang, J., Liu, X., Wen, W., & Hsu, L. T. (2024).Safety-Quantifiable Planar-Feature-based LiDAR Localization with a Prior Map for Intelligent Vehicles in Urban Scenarios. IEEE Transactions on Intelligent Vehicles. https://doi.org/10.1109/tiv.2024.3467115
journal
Q1
Bai, S., Wen, W., Li, Y., Shi, C., & Hsu, L. T. (2024).Towards Persistent Spatial Awareness: A Review of Pedestrian Dead Reckoning-Centric Indoor Positioning with Smartphones. IEEE Transactions on Instrumentation and Measurement. https://doi.org/10.1109/tim.2024.3470043
journal
Q?
Featured page
Ho, H. Y., Ng, H. F., Wen, W., Gu, Y., & Hsu, L. T. (2024).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. https://doi.org/10.47852/bonviewjdsis42022961
conference
Bai, S., Wen, W., Yue, Yu, & Hsu, L.-T. (2024).Invariant Extended Kalman Filtering for Pedestrian Deep-Inertial Odometry. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences. https://doi.org/10.5194/isprs-archives-xlviii-4-2024-607-2024
conference
Debiao, Lu, Wang, H., Cai, B., Wang, J., Liu, J., Zhang, G., & Hsu, L.-T. (2024).BDS for Train Localization Performance Forecast in Railway Environments Using Machine Learning. ION Pacific PNT. https://doi.org/10.33012/2024.19652
conference
Yan, P., Wen, W., Huang, F., & Hsu, L.-T. (2024).A Fault Detection Algorithm for LiDAR/IMU Integrated Localization Systems with Non-Gaussian Noises. The International Technical Meeting of the The Institute of Navigation. https://doi.org/10.33012/2024.19564
conference
Lee, M. J. L., Lin, Ju, & Hsu, L.-T. (2024).Exploring the Feasibility of Automated Data Standardization using Large Language Models for Seamless Positioning. 2024 14th International Conference on Indoor Positioning and Indoor Navigation (IPIN). https://doi.org/10.1109/IPIN62893.2024.10786123
conference
Meiling, Su, Wang, B., Ahad, S., Huang, X., Zhang, G., & Hsu, L.-T. (2024).An Adaptive Weighted GNSS/VINS/Wi-Fi RTT-based Seamless Positioning System for Smartphone. 2024 14th International Conference on Indoor Positioning and Indoor Navigation (IPIN). https://doi.org/10.1109/IPIN62893.2024.10786175
2023 (18)
journal
Q3
Zhong, Y., Huang, F., Zhang, J., Wen, W., & Hsu, L. T. (2023).Low‐cost solid‐state LiDAR/inertial‐based localization with prior map for autonomous systems in urban scenarios. IET Intelligent Transport Systems. https://doi.org/10.1049/itr2.12273
journal
Q2
Chang, H., Gu, Y., Goncharenko, I., Hsu, L. T., & Premachandra, C. (2023).Cyclist Orientation Estimation Using LiDAR Data. Sensors. https://doi.org/10.3390/s23063096
journal
Q1
Yan, P., Wen, W., & Hsu, L. T. (2023).Integration of Vehicle Dynamic Model and System Identification Model for Extending the Navigation Service Under Sensor Failures. IEEE Transactions on Intelligent Vehicles. https://doi.org/10.1109/tiv.2023.3273185
journal
Q1
Chang, J., Huang, F., Zhang, L., Xu, D., & Hsu, L. T. (2023).Selection of Areas for Effective GNSS Spoofing Attacks to a Vehicle-mounted MSF System based on Scenario Classification Models. IEEE Transactions on Vehicular Technology. https://doi.org/10.1109/tvt.2023.3279831
journal
Q1
Chan, Y. Y., Ng, K. K., Lee, C. K. M., Hsu, L. T., & Keung, K. L. (2023).Wind dynamic and energy-efficiency path planning for unmanned aerial vehicles in the lower-level airspace and urban air mobility context. Sustainable Energy Technologies and Assessments. https://doi.org/10.1016/j.seta.2023.103202
journal
Q1
Chang, J., Hu, R., Huang, F., Xu, D., & Hsu, L. T. (2023).LiDAR-based NDT Matching Performance Evaluation for Positioning in Adverse Weather Conditions. IEEE Sensors Journal. https://doi.org/10.1109/jsen.2023.3312911
journal
Q1
Wen, W., Bai, X., & Hsu, L. T. (2023).3D Vision Aided GNSS Real-Time Kinematic Positioning for Autonomous Systems in Urban Canyons. NAVIGATION: Journal of the Institute of Navigation. https://doi.org/10.33012/navi.590
journal
Q1
Featured page
Liu, X., Wen, W., & Hsu, L. T. (2023).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. https://doi.org/10.1109/tiv.2023.3323648
journal
Q1
Huang, F., Wen, W., Zhang, J., Wang, C., & Hsu, L. T. (2023).Dynamic Object-aware LiDAR Odometry Aided by Joint Weightings Estimation in Urban Areas. IEEE Transactions on Intelligent Vehicles. https://doi.org/10.1109/tiv.2023.3338141
journal
Q1
Chen, P., Guan, W., Huang, F., Zhong, Y., Wen, W., Hsu, L. T., & Lu, P. (2023).ECMD: An Event-Centric Multisensory Driving Dataset for SLAM. IEEE Transactions on Intelligent Vehicles. https://doi.org/10.1109/tiv.2023.3339144
journal
Q1
Featured page
Hsu, L. T., Huang, F., Ng, H. F., Zhang, G., Zhong, Y., Bai, X., & Wen, W. (2023).Hong Kong UrbanNav: An open-source multisensory dataset for benchmarking urban navigation algorithms. NAVIGATION: Journal of the Institute of Navigation. https://doi.org/10.33012/navi.602
conference
Zhong, Y., Wen, W., & Hsu, L.-T. (2023).Towards Accurate Vehicle-to-Pedestrian Relative Positioning Aided by Inter-Frame and Inter-Agent GNSS Measurement Collaboration Using Factor Graph Optimization for Smart Summon. Proceedings of the 36th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2023). https://doi.org/10.33012/2023.19471
conference
Zheng, Xi, Wen, W., & Hsu, L.-T. (2023).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). https://doi.org/10.1109/itsc57777.2023.10422196
conference
Huang, F., Chen, H., Urtay, A., Dongzhe, Su, Wen, W., & Hsu, L.-T. (2023).Roadside Infrastructure assisted LiDAR/Inertial-based Mapping for Intelligent Vehicles in Urban Areas. 2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC). https://doi.org/10.1109/itsc57777.2023.10422552
conference
Bai, X.& Hsu, L.-T. (2023).GVIM: GNSS/Visual/IMU/Map Integration Via Sliding Window Factor Graph Optimization in Urban Canyons. Proceedings of the 36th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2023). https://doi.org/10.33012/2023.19458
conference
Bai, S., Wen, W., Hsu, L.-T., & Yue, Yu (2023).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). https://doi.org/10.1109/ipin57070.2023.10332510
conference
Liang, Q., Zhang, G., & Hsu, L.-T. (2023).An empirical multi-wall NLOS ranging model for Wi-Fi RTT indoor positioning. 2023 13th International Conference on Indoor Positioning and Indoor Navigation (IPIN). https://doi.org/10.1109/ipin57070.2023.10332471
conference
Huang, F., Wen, W., Zhang, G., Dongzhe, Su, & Hsu, L.-T. (2023).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). https://doi.org/10.1109/itsc57777.2023.10422216
2022 (7)
patent
Hsu, L. T& Wen, W (2022).3D LiDAR Aided GNSS and the Method for NLOS Detection and Correction (US 2023/0033404 A1). U.S. Patent and Trademark Office. https://patents.google.com/patent/US20230033404A1
journal
Hoi-Fung, Ng, Hsu, L.-T., Lee, M. J. L., Feng, J., Naeimi, T., Beheshti, M., & Rizzo, J.-R. (2022).Real-Time Loosely Coupled 3DMA GNSS/Doppler Measurements Integration Using a Graph Optimization and Its Performance Assessments in Urban Canyons of New York. Sensors. https://doi.org/10.3390/s22176533
journal
Huang, F., Wen, W., Zhang, J., & Hsu, L.-T. (2022).Point Wise or Feature Wise? A Benchmark Comparison of Publicly Available Lidar Odometry Algorithms in Urban Canyons. IEEE Intelligent Transportation Systems Magazine. https://doi.org/10.1109/MITS.2021.3092731
journal
Q2
Zhang, J, Wen, W, Huang, F, Wang, Y, Chen, X, & Hsu, L. T. (2022).GNSS-RTK Adaptively Integrated with LiDAR/IMU Odometry for Continuously Global Positioning in Urban Canyons. Applied Sciences. https://doi.org/10.3390/app12105193
journal
Q1
Wen, W. and Hsu L.-T. (2022).3D LiDAR Aided GNSS NLOS Mitigation in Urban Canyons. IEEE Transactions on Intelligent Transportation Systems. https://doi.org/10.1109/tits.2022.3167710
journal
Q1
Zhang, L.& Hsu, L. T. and Zhang T. (2022).A Novel INS/USBL Integrated Navigation Scheme Via Factor Graph Optimization. IEEE Transactions on Vehicular Technology. https://doi.org/10.1109/tvt.2022.3177739
journal
Q1
Wen, W.& Hsu, L. T. (2022).AGPC-SLAM: Absolute Ground Plane Constrained 3D LiDAR SLAM. NAVIGATION: Journal of the Institute of Navigation. https://doi.org/10.33012/navi.527
2021 (13)
patent
Zhang, G& Hsu, L. T (2021).3D map-aided GNSS cooperative positioning method and system (ZL 201910866398.X). China National Intellectual Property Administration. https://patents.google.com/patent/CN110426717B
journal
unranked
S., H., Kan, Y.C., & Hsu, L.T. (2021).Localization Uncertainty Constrained Lateral PID Control with Aids of Fuzzy Logic Considering LiDAR NDT Matching Error. Journal of Aeronautics, Astronautics and Aviation, Series A.
journal
Q2
Kan, Y.C., Hsu, L. T., & Chung, E. (2021).Performance Evaluation on Map-based NDT Scan Matching Localization using Simulated Occlusion Datasets. IEEE Sensors Letter. https://doi.org/10.1109/lsens.2021.3060097
journal
Q1
Zhang, G., B., X., H.F., N., & Hsu, L. T. (2021).GNSS RUMS: GNSS Realistic Urban Multi-agent Simulator for Collaborative Positioning Research. Remote Sensing. https://doi.org/10.20944/preprints202012.0647.v1
journal
Q1
Featured page
H.F., N., Zhang, G., & Hsu, L. T. (2021).Robust GNSS Shadow Matching for Smartphones in Urban Canyons. IEEE Sensors Journal. https://doi.org/10.1109/jsen.2021.3083801
journal
Q1
H.F., N., Zhang, G., & Hsu, L. T. (2021).Urban Positioning: 3D Mapping Aided GNSS using Dual-Frequency Pseudorange Measurements from Smartphones. NAVIGATION: Journal of the Institute of Navigation. https://doi.org/10.1002/navi.448
journal
Q1
Zhang, J., Wen, W., Huang, F., & Hsu, L. T. (2021).Coarse-to-Fine Loosely-Coupled LiDAR-Inertial Odometry for Urban Positioning and Mapping. Remote Sensing. https://doi.org/10.3390/rs13122371
journal
Q1
Yang, S.& Hsu, L.T. (2021).Tightly Coupled Integrated Navigation System Via Factor Graph for UAV Indoor Localization. Aerospace Science and Technology. https://doi.org/10.1016/j.ast.2020.106370
journal
Q2
Luo, H., Y., L., Wang, J., Weng, D., J., Y., Hsu, L. T., & Chen, W. (2021).Integration of GNSS and BLE Technology With Inertial Sensors for Real-Time Positioning in Urban Environments. IEEE Access. https://doi.org/10.1109/access.2021.3052733
journal
Q1
Yue, J., Wen, W., Han, J., & Hsu, L. T. (2021).3D Point Clouds Data Super Resolution Aided LiDAR Odometry for Vehicular Positioning in Urban Canyons. IEEE Transactions on Vehicular Technology. https://doi.org/10.1109/tvt.2021.3069212
journal
Q1
Xue, D., Hsu, L. T., Wu, C-.L., Lee, C-.H., & Ng, K. K. H. (2021).Cooperative surveillance systems and digital-technology enabler for a real-time standard terminal arrival schedule displacement. Advanced Engineering Informatics. https://doi.org/10.1016/j.aei.2021.101402
journal
Q2
Lee, J.L. M., Hsu, L. T., & H.-F., N. (2021).Semantic-Based VPS for Smartphone Localization in Challenging Urban Environments. Sensors. https://doi.org/10.3390/s21186137
journal
Q1
Bai, X., Wen, W., & Hsu, L. T. (2021).Degeneration-aware Outlier Mitigation for Visual Inertial Integrated Navigation System in Urban Canyons. IEEE Transactions on Instrumentation and Measurement. https://doi.org/10.1109/tim.2021.3126010
2020 (8)
journal
Q3
Meng, Q.& Hsu, L. T. (2020).Integrity for Autonomous Vehicles and Towards a Novel Alert Limit Determination Method. Proc. IMechE, Part D: Journal of Automobile Engineering. https://doi.org/10.1177/0954407020965760
journal
Q2
Xue, D., H., N. K., & Hsu, L. T. (2020).Multi-Objective Flight Altitude Decision Considering Contrails, Fuel Consumption and Flight Time. Sustainability. https://doi.org/10.3390/su12156253
journal
Q1
Chiang, K. W., H., L. Y., Hsu, L. T., & Chu, F. Y. (2020).The Design a TDCP-Smoothed GNSS/Odometer Integration Scheme with Vehicular-Motion Constraint and Robust Regression. Remote Sensing. https://doi.org/10.3390/rs12162550
journal
Q1
Bai, X., Wen, W., & Hsu, L. T. (2020).Robust Visual-Inertial Integrated Navigation System Aided by Online Sensor Model Adaption for Autonomous Ground Vehicles in Urban Areas. Remote Sensing. https://doi.org/10.20944/preprints202003.0018.v1
journal
Q1
Wen, W., Zhang, G., & Hsu, L. T. (2020).Object Detection Aided GNSS and Its Integration with LiDAR in Highly Urbanized Areas. IEEE Intelligent Transportation Systems Magazine. https://doi.org/10.1109/mits.2020.2994131
journal
Q2
Wen, W., Bai, X., Zhang, G., Chen, S., Yuan, F., & Hsu, L. T. (2020).Multi-Agent Collaborative GNSS/Camera/INS Integration Aided by Inter-ranging for Vehicular Navigation in Urban Areas. IEEE Access. https://doi.org/10.1109/access.2020.3006210
journal
Q2
H.F., N., Zhang, G., Yang, K.Y., & Yang, S. X. Hsu L. T. (2020).Improved Weighting Scheme using Consumer-level GNSS L5/E5a/B2a Pseudorange Measurements in the Urban Area. Advances in Space Research. https://doi.org/10.1016/j.asr.2020.06.002
journal
Q1
Zhang, G., Wen, W. Xu B., & Hsu, L. T. (2020).Extending Shadow Matching to Tightly-Coupled GNSS/INS Integration System. IEEE Transactions on Vehicular Technology. https://doi.org/10.1109/tvt.2020.2981093
2019 (4)
book
Hsu, L. T., Wen, W., & Zhang, G (2019).Chapter 2 - Vehicular Positioning System. Nova Science Publishers Inc.
journal
unranked
Xue, D., Sun, R., & Hsu, L. T. (2019).Optimal Takeoff Time Assignment under Severe Weather. Journal of Aeronautics, Astronautics and Aviation, Series A.
journal
Q3
Wen, W., Bai, X., Zhan, W., Tomizuka, M., & Hsu, L. T. (2019).Uncertainty Estimation of LiDAR Matching Aided by Dynamic Vehicle Detection and High Definition Map. IET Electronics Letters. https://doi.org/10.1049/el.2018.8075
journal
Q1
Wen, W., Bai, X., Kan, Y.C., & Hsu, L. T. (2019).Tightly Coupled GNSS/INS Integration Via Factor Graph and Aided by Fish-eye Camera. IEEE Transactions on Vehicular Technology. https://doi.org/10.1109/tvt.2019.2944680
2018 (5)
patent
Wang, Y& Hsu, L. T (2018).Positioning method and electronic equipment (CN 111198389B). China National Intellectual Property Administration. https://patents.google.com/patent/CN111198389B
journal
Q2
Y., G., Hsu, L.T., & Kamijo, S. (2018).Towards lane-level traffic monitoring in urban environment using precise probe vehicle data derived from three-dimensional map aided differential GNSS. IATSS Research. https://doi.org/10.1016/j.iatssr.2018.03.001
journal
Q2
Zhang, G.& Hsu, L.T. (2018).A New Path Planning Algorithm Using GNSS Localization Error Map for UAV in Urban Area. Journal of Intelligent & Robotic Systems. https://doi.org/10.1007/s10846-018-0894-5
journal
Q1
Zhang, G.& Hsu, L. T. (2018).Intelligent GNSS/INS Integrated Navigation System for a Commercial UAV Flight Control System. Aerospace Science and Technology. https://doi.org/10.1016/j.ast.2018.07.026
journal
Q2
Wen, W., Hsu, L. T., & Zhang, G. (2018).Performance analysis of NDT-based graph slam for autonomous vehicle in diverse typical driving scenarios of Hong Kong. Sensors. https://doi.org/10.3390/s18113928
2017 (2)
journal
Yanlei, Gu, Hsu, L.-T., & Kamijo, S. (2017).Vehicle Localization Based on Global Navigation Satellite System Aided by Three-Dimensional Map. Transportation Research Record: Journal of the Transportation Research Board. https://doi.org/10.3141/2621-07
journal
Q1
Hsu, L.T., Y., G., & Kamijo, S. (2017).Intelligent Viaduct Recognition and Driving Altitude Determination using GPS Data. IEEE Transactions on Intelligent Vehicles. https://doi.org/10.1109/tiv.2017.2737325
2016 (6)
journal
Q2
Y., G., Hashimoto, Y., Hsu, L. T., Iryo-Asano, M., & Kamijo, S. (2016).Human-like motion planning model for driving in signalized intersections. IATSS Research. https://doi.org/10.1016/j.iatssr.2016.11.002
journal
Q4
Huang, Y., Hsu, L.T., Y., G., Wang, H., & Kamijo, S. (2016).Database Calibration for Outdoor Wi-Fi Positioning System. IEICE Transactions. https://doi.org/10.1587/transfun.e99.a.1683
journal
Q4
Y., G., Hsu, L. T., & Kamijo, S. (2016).Accurate Estimation of Pedestrian Orientation from On-board Camera and Inertial Sensors. IEICE Transactions. https://doi.org/10.1587/transfun.e99.a.271
journal
Q1
Hsu, L. T., Y., G., Huang, Y., & Kamijo, S. (2016).Urban Pedestrian Navigation using Smartphone-based Dead Reckoning and 3D Maps Aided GNSS. IEEE Sensors Journal. https://doi.org/10.1109/jsen.2015.2496621
journal
Q1
Hashimoto, Y., Y., G., Hsu, L. T., Iryo-Asano, M., & Kamijo, S. (2016).A probabilistic model of pedestrian crossing behavior at signalized intersections for connected vehicles. Transportation Research Part C-Emerging Technologies. https://doi.org/10.1016/j.trc.2016.07.011
journal
Q3
Y., G., Hsu, L. T., Bao, J., & Kamijo, S. (2016).Integrating Global Navigation Satellite System and Road-Marking Detection for Vehicle Localization in Urban Traffic. Transportation Research Record Journal. https://doi.org/10.3141/2595-07
2015 (3)
journal
Q4
Hsu, L. T., Chen, F., & Kamijo, S. (2015).Evaluation of Multi-GNSSs and GPS with 3D Map Methods for Pedestrian Positioning in an Urban Canyon Environment. IEICE Transactions. https://doi.org/10.1587/transfun.e98.a.284
journal
Q2
Y., G., Hsu, L. T, & Kamijo, S. (2015).Passive Sensor Integration for Vehicle Self-Localization in Urban Traffic Environment. Sensors. https://doi.org/10.3390/s151229795
magazine
Kamijo, S, Y, G., & Hsu, L. T (2015).Autonomous Vehicle Technologies: Localization and Mapping. IEICE Fundamentals Review. https://doi.org/10.1587/essfr.9.2_131
2011 (2)
magazine
Hsu, L. T., Tsai, W. M., & Jan, S. S. (2011).Real-Time Indoor Location Based Service Test Bed I. Coordinates Magazine.
magazine
Hsu, L. T, Tsai, W. M, & Jan, S. S (2011).Real Time Indoor Location Based Service Test Bed (II). Coordinates Magazine.
2010 (1)
journal
Q2
Jan, S. S., Hsu, L. T., & Tsai, W. M. (2010).Development of an Indoor Location Based Service Test Bed and Geographic Information System with a WSN. Sensors. https://doi.org/10.3390/s100402957
2009 (1)
journal
unranked
Hsu, L. T., Tsai, W. M., & Jan, S. S. (2009).Development of Indoor Positioning and Location Based Information Test Bed. Journal of Aeronautics, Astronautics and Aviation, Series A.