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 (PLANS, 2018)

A novel GNSS based V2V cooperative localization to exclude multipath effect using consistency checks. - Guohao Zhang; Weisong Wen; Li-Ta Hsu (PLANS, 2018)

Performance Analysis of LiDAR-based Graph-SLAM for Autonomous Vehicle in Diverse Typical Driving Scenarios of Hong Kong. - Weisong Wen; Li-Ta Hsu; Guohao Zhang (CoRR, 2018)

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 (Sensors, 2018)

Combining Deep Gaussian Process and Rule-Based Method for Decision-Making in Self-Driving Simulation with Small Data. - Wenqi Fang; Huiyun Li; Shaobo Dang; Hui Huang 014; Lei Peng 002; Li-Ta Hsu; Weisong Wen (CIS, 2019)

Tightly Coupled GNSS/INS Integration via Factor Graph and Aided by Fish-Eye Camera. - Weisong Wen; Xiwei Bai; Yin Chiu Kan; Li-Ta Hsu (IEEE Trans. Veh. Technol., 2019)

UrbanLoco: A Full Sensor Suite Dataset for Mapping and Localization in Urban Scenes. - Weisong Wen; Yiyang Zhou; Guohao Zhang; Saman Fahandezh-Saadi; Xiwei Bai; Wei Zhan; Masayoshi Tomizuka; Li-Ta Hsu (ICRA, 2020)

Perception-aided Visual-Inertial Integrated Positioning in Dynamic Urban Areas. - Xiwei Bai; Bo Zhang; Weisong Wen; Li-Ta Hsu; Huiyun Li (PLANS, 2020)

New Integrated Navigation Scheme for the Level 4 Autonomous Vehicles in Dense Urban Areas. - Li-Ta Hsu; Weisong Wen (PLANS, 2020)

GNSS/LiDAR Integration Aided by Self-Adaptive Gaussian Mixture Models in Urban Scenarios: An Approach Robust to Non-Gaussian Noise. - Weisong Wen; Xiwei Bai; Li-Ta Hsu; Tim Pfeifer (PLANS, 2020)

Multi-Agent Collaborative GNSS/Camera/INS Integration Aided by Inter-Ranging for Vehicular Navigation in Urban Areas. - Weisong Wen; Xiwei Bai; Guohao Zhang; Shengdong Chen; Feng Yuan; Li-Ta Hsu (IEEE Access, 2020)

It is time for Factor Graph Optimization for GNSS/INS Integration: Comparison between FGO and EKF. - Weisong Wen; Tim Pfeifer; Xiwei Bai; Li-Ta Hsu (CoRR, 2020)

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 001; Weisong Wen; Jing Han 009; Li-Ta Hsu (CoRR, 2020)

Object-Detection-Aided GNSS and Its Integration With Lidar in Highly Urbanized Areas. - Weisong Wen; Guohao Zhang; Li-Ta Hsu (IEEE Intell. Transp. Syst. Mag., 2020)

Robust Visual-Inertial Integrated Navigation System Aided by Online Sensor Model Adaption for Autonomous Ground Vehicles in Urban Areas. - Xiwei Bai; Weisong Wen; Li-Ta Hsu (Remote. Sens., 2020)

Extending Shadow Matching to Tightly-Coupled GNSS/INS Integration System. - Guohao Zhang; Weisong Wen; Bing Xu; Li-Ta Hsu (IEEE Trans. Veh. Technol., 2020)

Towards Robust GNSS Positioning and Real-time Kinematic Using Factor Graph Optimization. - Weisong Wen; Li-Ta Hsu (ICRA, 2021)

Point wise or Feature wise? Benchmark Comparison of Public Available LiDAR Odometry Algorithms in Urban Canyons. - Feng Huang 006; Weisong Wen; Jiachen Zhang; Li-Ta Hsu (CoRR, 2021)

Coarse-to-Fine Loosely-Coupled LiDAR-Inertial Odometry for Urban Positioning and Mapping. - Jiachen Zhang; Weisong Wen; Feng Huang 006; Xiaodong Chen; Li-Ta Hsu (Remote. Sens., 2021)

Degeneration-Aware Outlier Mitigation for Visual Inertial Integrated Navigation System in Urban Canyons. - Xiwei Bai; Weisong Wen; Li-Ta Hsu (IEEE Trans. Instrum. Meas., 2021)

GNSS NLOS Exclusion Based on Dynamic Object Detection Using LiDAR Point Cloud. - Weisong Wen; Guohao Zhang; Li-Ta Hsu (IEEE Trans. Intell. Transp. Syst., 2021)

3D Mapping Database Aided GNSS Based Collaborative Positioning Using Factor Graph Optimization. - Guohao Zhang; Hoi-Fung Ng; Weisong Wen; Li-Ta Hsu (IEEE Trans. Intell. Transp. Syst., 2021)

3D Point Clouds Data Super Resolution-Aided LiDAR Odometry for Vehicular Positioning in Urban Canyons. - Jiang Yue 001; Weisong Wen; Jing Han 009; Li-Ta Hsu (IEEE Trans. Veh. Technol., 2021)

GNSS Outliers Mitigation in Urban Areas Using Sparse Estimation Based on Factor Graph Optimization. - Xiwei Bai; Weisong Wen; Guohao Zhang; Hoi-Fung Ng; Li-Ta Hsu (ITSC, 2022)

LiDAR Aided Cycle Slip Detection for GNSS Real-Time Kinematic Positioning in Urban Environments. - Feng Huang 006; Weisong Wen; Hoi-Fung Ng; Li-Ta Hsu (ITSC, 2022)

3D LiDAR Aided GNSS NLOS Mitigation for Reliable GNSS-RTK Positioning in Urban Canyons. - Xikun Liu; Weisong Wen; Feng Huang 006; Han Gao; Yongliang Wang; Li-Ta Hsu (CoRR, 2022)

Point Wise or Feature Wise? A Benchmark Comparison of Publicly Available Lidar Odometry Algorithms in Urban Canyons. - Feng Huang 006; Weisong Wen; Jiachen Zhang; Li-Ta Hsu (IEEE Intell. Transp. Syst. Mag., 2022)

Continuous and Precise Positioning in Urban Environments by Tightly Coupled Integration of GNSS, INS and Vision. - Xingxing Li; Shengyu Li; Yuxuan Zhou 001; Zhiheng Shen; Xuanbin Wang; Xin Li 117; Weisong Wen (IEEE Robotics Autom. Lett., 2022)

Time-Correlated Window-Carrier-Phase-Aided GNSS Positioning Using Factor Graph Optimization for Urban Positioning. - Xiwei Bai; Weisong Wen; Li-Ta Hsu (IEEE Trans. Aerosp. Electron. Syst., 2022)

3D LiDAR Aided GNSS NLOS Mitigation in Urban Canyons. - Weisong Wen; Li-Ta Hsu (IEEE Trans. Intell. Transp. Syst., 2022)

GNSS Outlier Mitigation via Graduated Non-Convexity Factor Graph Optimization. - Weisong Wen; Guohao Zhang; Li-Ta Hsu (IEEE Trans. Veh. Technol., 2022)

Factor Graph Optimization-based Indoor Pedestrian SLAM with Probabilistic Exact Activity Loop Closures using Smartphone. - Shiyu Bai; Weisong Wen; Li-Ta Hsu; Yue Yu 003 (IPIN, 2023)

Integrating Building Information Modeling and Panoramic Structure-from-Motion for Accurate Camera Pose Estimation. - Max Jwo Lem Lee; Weisong Wen; Stephen Ling Ming Au (IPIN-WiP, 2023)

Fisheye Camera Aided GNSS NLOS Detection and Learning-Based Pseudorange Bias Correction for Intelligent Vehicles in Urban Canyons. - Runzhi Hu; Weisong Wen; Li-Ta Hsu (ITSC, 2023)

Roadside Infrastructure assisted LiDAR/Inertial-based Mapping for Intelligent Vehicles in Urban Areas. - Feng Huang 006; Hang Chen; Alpamys Urtay; Dongzhe Su; Weisong Wen; Li-Ta Hsu (ITSC, 2023)

Adaptive Multi-Sensor Integrated Navigation System Aided by Continuous Error Map from RSU for Autonomous Vehicles in Urban Areas. - Feng Huang 006; Weisong Wen; Guohao Zhang; Dongzhe Su; Li-Ta Hsu (ITSC, 2023)

Tightly Joining Positioning and Control for Trustworthy Unmanned Aerial Vehicles Based on Factor Graph Optimization in Urban Transportation. - Peiwen Yang; Weisong Wen (ITSC, 2023)

Tightly-coupled Line Feature-aided Visual Inertial Localization within Lightweight 3D Prior Map for Intelligent Vehicles. - Xi Zheng 003; Weisong Wen; Li-Ta Hsu (ITSC, 2023)

Integrity-constrained Factor Graph Optimization for GNSS Positioning. - Xiao Xia; Li-Ta Hsu; Weisong Wen (PLANS, 2023)

Extending Navigation Service under Sensor Failures: An Approach by Integrating System Identification and Vehicle Dynamic Model. - Penggao Yan; Li-Ta Hsu; Weisong Wen (PLANS, 2023)

LiDAR Feature Outlier Mitigation Aided by Graduated Non-convexity Relaxation for Safety-critical Localization in Urban Canyons. - Jiachen Zhang; Weisong Wen; Li-Ta Hsu; Zheng Gong; Zhongzhe Su (PLANS, 2023)

RELEAD: Resilient Localization with Enhanced LiDAR Odometry in Adverse Environments. - Zhiqiang Chen; Hongbo Chen; Yuhua Qi; Shipeng Zhong; Dapeng Feng; Jin Wu 002; Weisong Wen; Ming Liu 001 (ICRA, 2024)

CoLRIO: LiDAR-Ranging-Inertial Centralized State Estimation for Robotic Swarms. - Shipeng Zhong; Hongbo Chen; Yuhua Qi; Dapeng Feng; Zhiqiang Chen; Jin Wu 002; Weisong Wen; Ming Liu 001 (ICRA, 2024)

SUG-UAV Multirotor Dataset with Multi-sensor Integration in Indoor and Urban Areas. - Naigui Xiao; Weisong Wen; Jiahao Hu; Peiwen Yang; Jiaqi Zhao; Chunjun Wu; Shiyu Bai (IPIN, 2024)

3D Indoor Localization via Universal Signal Fingerprinting Powered by LSTM. - Zhanpeng Zhang; Ming Xia; Jiale Wang; Weisong Wen; Chuang Shi; Yunfeng Shan; Xinqi Tian (IPIN, 2024)

Safe-Assured Learning-Based Deep SE(3) Motion Joint Planning and Control for UAV Interactions with Dynamic Environments. - Yuanyuan Zhang; Weisong Wen; Penggao Yan (ITSC, 2024)

Tightly Joined Positioning and Control Model for Unmanned Aerial Vehicles Based on Factor Graph Optimization. - Peiwen Yang; Weisong Wen; Shiyu Bai; Li-Ta Hsu (CoRR, 2024)

Toward Persistent Spatial Awareness: A Review of Pedestrian Dead Reckoning-Centric Indoor Positioning With Smartphones. - Shiyu Bai; Weisong Wen; You Li 001; Chuang Shi; Li-Ta Hsu (IEEE Trans. Instrum. Meas., 2024)

Nonlinearity-Aware ZUPT-Aided Pedestrian Inertial Navigation Based on Cubature Kalman Filter in Urban Canyons. - Ruijie Xu 004; Shichao Chen; Shiyu Bai; Weisong Wen (IEEE Trans. Instrum. Meas., 2024)

Enhancing GNSS Positioning Accuracy for Road Monitoring Systems: A Factor Graph Optimization Approach Aided by Geospatial Information. - Yihan Zhong; Runzhi Hu; Xiwei Bai; Xingxing Li; Li-Ta Hsu; Weisong Wen (IEEE Trans. Instrum. Meas., 2024)

ECMD: An Event-Centric Multisensory Driving Dataset for SLAM. - Peiyu Chen; Weipeng Guan; Feng Huang 006; Yihan Zhong; Weisong Wen; Li-Ta Hsu; Peng Lu 003 (IEEE Trans. Intell. Veh., 2024)

GLIO: Tightly-Coupled GNSS/LiDAR/IMU Integration for Continuous and Drift-Free State Estimation of Intelligent Vehicles in Urban Areas. - Xikun Liu; Weisong Wen; Li-Ta Hsu (IEEE Trans. Intell. Veh., 2024)

Integration of Vehicle Dynamic Model and System Identification Model for Extending the Navigation Service Under Sensor Failures. - Penggao Yan; Weisong Wen; Li-Ta Hsu (IEEE Trans. Intell. Veh., 2024)

An Improved Inertial Preintegration Model in Factor Graph Optimization for High Accuracy Positioning of Intelligent Vehicles. - Liang Zhang 033; Weisong Wen; Li-Ta Hsu; Tao Zhang 008 (IEEE Trans. Intell. Veh., 2024)

Dynamic Object-Aware LiDAR Odometry Aided by Joint Weightings Estimation in Urban Areas. - Feng Huang 006; Weisong Wen; Jiachen Zhang; Chaoqun Wang 009; Li-Ta Hsu (IEEE Trans. Intell. Veh., 2024)

Trajectory Smoothing Using GNSS/PDR Integration via Factor Graph Optimization in Urban Canyons. - Yihan Zhong; Weisong Wen; Li-Ta Hsu (IEEE Internet Things J., 2024)

Factor Graph Optimization-Based Smartphone IMU-Only Indoor SLAM With Multihypothesis Turning Behavior Loop Closures. - Shiyu Bai; Weisong Wen; Li-Ta Hsu; Peiwen Yang (IEEE Trans. Aerosp. Electron. Syst., 2024)

A Novel Consistent-Robust SINS/GNSS/NHC Integrated Navigation Method for Autonomous Vehicles Under Intermittent GNSS Outage. - Siyuan Du; Yulong Huang; Weisong Wen; Yonggang Zhang 001 (IEEE Trans. Intell. Veh., 2024)

Tightly-Coupled Wi-Fi/LiDAR/Inertial Integration via Factor Graph Optimization for UAS. - Ruijie Xu 004; Xikun Liu; Weisong Wen (PLANS, 2025)

Paired Cauchy-Gaussian overbound for not symmetric unimodal heavy-tailed distributions. - Zhengdao Li; Penggao Yan; Weisong Wen; Li-Ta Hsu (PLANS, 2025)

Certifiably Optimal Satellite Orbit Determination Based on Doppler Measurements for Low-Earth-Orbit Satellites. - Baoshan Song; Weisong Wen; Li-Ta Hsu (PLANS, 2025)

GNSS/Map Integration with Batch Factor Graph Optimization for Reliable Trajectory Estimation in Urban Canyon. - Yihan Zhong; Hoi-Fung Ng; Li-Ta Hsu; Weisong Wen (PLANS, 2025)

Continuous Error Map-Aided Adaptive Multisensor Integration for Connected Autonomous Vehicles in Urban Scenarios. - Feng Huang 006; Weisong Wen; Guohao Zhang; Dongzhe Su; Yulong Huang (IEEE Trans. Instrum. Meas., 2025)

Self-Attention-Enhanced PSW-LSTM for 3-D Indoor Pedestrian Positioning With Integrated Wi-Fi, Magnetometer, and Barometer Sensors. - Zhanpeng Zhang; Jiale Wang; Ming Xia; Chuang Shi; Weisong Wen; Deyou Zhang (IEEE Trans. Instrum. Meas., 2025)

Tightly-Coupled Visual/Inertial/Map Integration With Observability Analysis for Reliable Localization of Intelligent Vehicles. - Xi Zheng 003; Weisong Wen; Li-Ta Hsu (IEEE Trans. Intell. Veh., 2025)

3DIO: Low-Drift 3-D Deep-Inertial Odometry for Indoor Localization Using an IMU. - Shiyu Bai; Weisong Wen; Chuang Shi (IEEE Internet Things J., 2025)

Urban GNSS Positioning for Consumer Electronics: 3D Mapping and Advanced Signal Processing. - Jiale Wang; Ming Xia; Deyou Zhang; Weisong Wen; Wu Chen 001; Chuang Shi (IEEE Trans. Consumer Electron., 2025)

Graph-Based Indoor 3D Pedestrian Location Tracking With Inertial-Only Perception. - Shiyu Bai; Weisong Wen; Dongzhe Su; Li-Ta Hsu (IEEE Trans. Mob. Comput., 2025)

A Novel Lie Group-Based Reliable IMM Estimation Method for SINS/GNSS/OD/NHC Integrated Navigation in Complex Environments. - Siyuan Du; Yulong Huang; Weisong Wen; Yonggang Zhang 001 (IEEE Internet Things J., 2025)

pyrtklib: An Open-Source Package for Tightly Coupled Deep Learning and GNSS Integration for Positioning in Urban Canyons. - Runzhi Hu; Penghui Xu; Yihan Zhong; Weisong Wen (IEEE Trans. Intell. Transp. Syst., 2025)

Safety-Quantifiable Line Feature-Based Monocular Visual Localization With 3D Prior Map. - Xi Zheng 003; Weisong Wen; Li-Ta Hsu (IEEE Trans. Intell. Transp. Syst., 2025)