- Research Area
- 3D Mapping Aided GNSS Positioning
- Perceived Aided Sensors Integrated Navigation (PASIN) Scheme
- Realization of Low-Speed Autonomous Ground Vehicle
- GNSS Vector tracking in urban canyons
- Multi-sensors integrated navigation system for autonomous driving
- Collaborative Positioning for IoT in Smart Cities
- Positioning Integrity Monitoring for autonomous driving vehicle
Perceived Aided Sensors Integrated Navigation (PASIN) Scheme
Conventionally, the integrated system fuses the position and orientation solutions from the sensors by Bayesian filter such as extended Kalman filter (EKF). However, this conventional integration scheme neglects a new potential, the LiDAR and cameras can describe the surrounding environment of MMS digitally, which can be used to model the GNSS signal reflection effects, the surrounding dynamic objects. In other words, the error of all the sensors can be mitigated using the perceived information. We called this integration scheme, Perceived Aided Sensors Integrated Navigation (PASIN).
Researcher : Dr Jiang YUE (Postdoctoral Researcher);
Dr Weisong WEN (Research Assistant Professor);
Ms Xiwei BAI (PhD Student); Ms Bo Zhang (Research Assistant); Mr Yin-Chiu KAN (Technical officier in AAE PolyU)
Related Publication:
TIGHTLY COUPLED GNSS/INS INTEGRATION VIA FACTOR GRAPH AND AIDED BY FISH-EYE CAMERA
Research Paper can be downloaded here
Powerpoint slide can be downloaded here
OBJECT DETECTION AIDED GNSS AND ITS INTEGRATION WITH LIDAR IN HIGHLY URBANIZED AREAS
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CORRECTING NLOS BY 3D LIDAR AND BUILDING HEIGHT TO IMPROVE GNSS SINGLE POINT POSITIONING
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Powerpoint slide can be downloaded here
UNCERTAINTY ESTIMATION OF LIDAR MATCHING AIDED BY DYNAMIC VEHICLE DETECTION AND HIGH DEFINITION MAP
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Powerpoint slide can be downloaded here