Department of Aeronautical and Aviation Engineering - The Hong Kong Polytechnic University

1. Yan, P., Hsu, L. T., & Wen, W. (2023, January). Integration of Vehicle Dynamic Model and System Identified Model for Navigation in Autonomous Mobile Robots. In Proceedings of the 2023 International Technical Meeting of The Institute of Navigation (pp. 153-160).

2. Yan, P., Hsu, L. T., & Wen, W. (2023, April). Extending Navigation Service under Sensor Failures: An Approach by Integrating System Identification and Vehicle Dynamic Model. In 2023 IEEE/ION Position, Location and Navigation Symposium (PLANS) (pp. 630-636). IEEE.

3. Xia, X., Hsu, L. T., & Wen, W. (2023, April). Integrity-constrained Factor Graph Optimization for GNSS Positioning. In 2023 IEEE/ION Position, Location and Navigation Symposium (PLANS) (pp. 414-420). IEEE.

4. Zhang, J., Wen, W., Hsu, L. T., Gong, Z., & Su, Z. (2023, April). LiDAR Feature Outlier Mitigation Aided by Graduated Non-convexity Relaxation for Safety-critical Localization in Urban Canyons. In 2023 IEEE/ION Position, Location and Navigation Symposium (PLANS) (pp. 660-664). IEEE.

5. Luo, Y., Hsu, L.-T., & El-Sheimy, N. (2023). Super-Resolution GPS Receiver: User’s Acceleration Computation. 2023 IEEE/ION Position, Location and Navigation Symposium (PLANS), 1578–1995.

6. Ho, H. Y., Ng, H. F., Leung, Y. T., Wen, W., Hsu, L. T., & Luo, Y. (2023). Smartphone Level Indoor/outdoor Ubiquitous Pedestrian Positioning 3DMA Gnss/vins Integration Using Fgo. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, 48, 175-182.

7. Leung, Y. T., Zheng, X., Ho, H. Y., Wen, W., & Hsu, L. T. (2023). Cost-effective Camera Localization Aided by Prior Point Clouds Maps for Level 3 Autonomous Driving Vehicles. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, 48, 227-234.

8. Sun, Y., Huang, F., Wen, W., Hsu, L. T., & Liu, X. (2023). Multi-Robot Cooperative LIDAR Slam for Efficient Mapping in Urban Scenes. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, 48, 473-478.

1. Zheng X., Hu R., Wen W., Hsu L.T. (submitted) Semantic-aided Visual Inertial Integrated Smartphone Positioning in Indoor Scenarios, UPINLBS 2022

2. Xu H., Xu B., Hsu L.T. (Jan 25 - 27, 2022) 3DMA Sky Visibility Matching: An Example using a Simulated LEO Constellation, ION GNSS 2022, Long Beach, California, USA. [slide] [video]

3. Icking L., Zhang G., Hsu L.-T., Schön S. (2022) Quantification of GNSS NLOS Spatial Correlation – A Case Study in Hong Kong’s Urban Canyon, In: Proceedings of the 2022 International Technical Meeting of The Institute of Navigation, Long Beach, California, January 2022, pp. 712-722.

4. Zhong, Y., Wen, W., Ng, H. F., Bai, X., & Hsu, L. T. (2022, September). Real-time Factor Graph Optimization Aided by Graduated Non-convexity Based Outlier Mitigation for Smartphone Decimeter Challenge. In Proceedings of the 35th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2022) (pp. 2339-2348).

5. Xu, H., & Hsu, L. T. (2022, September). Urban Buildings Update Monitoring Based on Sky Visibility Estimation using GNSS and LEO. In Proceedings of the 35th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2022) (pp. 1775-1783).

6. Wen, W., & Hsu, L. T. (2022, September). Factor Graph Optimization for Tightly-Coupled GNSS Pseudorange/Doppler/Carrier Phase/INS Integration: Performance in Urban Canyons of Hong Kong. In Proceedings of the 35th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2022) (pp. 2178-2189).

7. Liu, X., Wen, W., & Hsu, L. T. (2022, September). 3D LiDAR Aided GNSS Real-time Kinematic Positioning via Coarse-to-fine Batch Optimization for High Accuracy Mapping in Dense Urban Canyons. In Proceedings of the 35th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2022) (pp. 1954-1965).

8. Tsang, C. L., Luo, Y., & Hsu, L. T. (2022, September). Long Coherent Open-Loop GPS L5Q Signal Positioning: A Case Study for an Urban Area in Hong Kong. In Proceedings of the 35th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2022) (pp. 2025-2041).

9. Huang, F., Wen, W., Ng, H.-F., & Hsu, L.-T. (2022). LiDAR Aided Cycle Slip Detection for GNSS Real-Time Kinematic Positioning in Urban Environments. 2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC), 1572–1578.

10. Bai, X., Wen, W., Zhang, G., Ng, H. F., & Hsu, L. T. (2022, October). GNSS Outliers Mitigation in Urban Areas Using Sparse Estimation Based on Factor Graph Optimization. In 2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC) (pp. 197-202). IEEE.

1. Wen W., Hsu L.T. (May 30 2021) Towards Robust GNSS Positioning and Real-time Kinematic Using Factor Graph Optimization, IEEE ICRA 2021,Xian, China [video] [code]

2. Wen W., Hsu L.T. (Sep 2021) 3D LiDAR Aided GNSS Real-time Kinematic Positioning. In Proceedings of the 34th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2021) (pp. 2212-2220). [video]

3. Lee J.L. M., Hsu L.T. (Jan 2021) A Feasibility Study on Smartphone Localization using Image Registration with Segmented 3D Building Models based on Multi-Material Classes, ION ITM 2021

4. Wen W., Meng Q., Hsu L.T. (Sep 2021) Integrity Monitoring for GNSS Positioning Via Factor Graph Optimization in Urban Canyons. In Proceedings of the 34th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2021) (pp. 1508-1515). [video]

5. Ng H.F., Hsu L.T. (Jan 2021) A Feasibility Study on the Position Hypothesis Based RTK with the Aids of 3D Building Models, ION ITM 2021 [slide] [video]

6. Zhang G., Ng H.F., Hsu L.T. Gao H., Yao D. (Jan 2021) Scalability and Latency Analysis of the Centralized 3D Mapping Aided GNSS-Based Collaborative Positioning, ION ITM 2021

7. Zhang J., Wen W., Huang F., Chen X., Hsu L.T. (Sep 2021) Continuous GNSS-RTK Aided by LiDAR/Inertial Odometry with Intelligent GNSS Selection in Urban Canyons. In Proceedings of the 34th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2021) (pp. 4198-4207).

8. Luo Y., Hsu L.T., Xiang Y., Xu B., Yu C. (Sep 20-24, 2021) An Absolute-Position-aided Code Discriminator Towards GNSS Receivers for Multipath Mitigation, In Proceedings of the 34th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2021) (pp. 3773-3782).

9. Luo Y., Hsu L.T., Pan Y. (2021) A Super-Resolution Algorithm with FRFT Towards GNSS TOA Estimation for Multipath Channel, In Proceedings of the 34th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2021) (pp. 3350-3359).

10. Zhang G., Icking L., Hsu L.T., Schön S. (Sep 20-24, 2021) A Study on Multipath Spatial Correlation for GNSS Collaborative Positioning, In Proceedings of the 34th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2021) (pp. 2430-2444).

11. Ahad S., Shiu W.C.L., Huang X.Y., Sajid DM. Z., Lee M.J.L., Su M., Hsu L.T. (Sep 20-24, 2021) UnmannedSim: Urban and Multi-Agent Navigation Network-Enabled Drones Simulator for Path Planning and Localization Research, In Proceedings of the 34th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2021) (pp. 1217-1227).

12. Ng H.F., Zhang G., Wen W., Hsu L.T. (Sep 20 - 24, 2021) 3D Mapping Aided GNSS Using Gauss-Newton Algorithm: An Example on GNSS Shadow Matching, ION GNSS+ 2021, St. Louis, Missouri, USA [slide] [video]

13. Huang F., Shen D., Wen W., Zhang J., Hsu L.T., (Sep 2021) A Coarse-to-Fine LiDAR-Based SLAM with Dynamic Object Removal in Dense Urban Areas, ION GNSS+ 2021, St. Louis, Missouri, USA [video]

14. Hsu L.T., Kubo N., Wen W., Chen W., Liu Z., Suzuki T., Meguro, J. (Sep 2021) UrbanNav: An Open-Sourced Multisensory Dataset for Benchmarking Positioning Algorithms Designed for Urban Areas. In Proceedings of the 34th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2021) (pp. 226-256). [slide]

15. Lee M.J.L., Ho H.Y., Hsu L.T., Au S.L.M. ( Nov 2021) BIPS: Building Information Positioning System, 2021 International Conference on Indoor Positioning and Indoor Navigation(IPIN), Lloret de Mar, Spain

1. Wen W., Hsu L.T. (Sept 22-25 2020) 3D LiDAR Aided GNSS and its Tightly Coupled Integration with INS Via Factor Graph Optimization, ION GNSS+ 2020, St. Louis, MO, USA. (Best Presentation Award) [video]

2. Wen W., Zhou Y., Zhang G., Fahandezh-Saadi S., Bai X., Zhan W., Tomizuka M., Hsu L.T. (June 1-4 2020) UrbanLoco: A Full Sensor Suite Dataset for Mapping and Localization in Urban Scenes, IEEE ICRA 2020, Paris, France. [video] [code]

3. Bai X., Zhang B., Wen W., Hsu L.T., Li H., (April 2020) Perception-aided Visual/Inertial Integrated Positioning in Highly Dynamic Urban Areas, IEEE/ION PLANS 2020, Portland, Oregon, USA. (cancelled due to COVID-19)

4. Wen W., Bai X., Hsu L.T., Pfeifer T. (April 2020), GNSS/LiDAR Integration Aided by Self-adaptive Gaussian Mixture Model in Urban Scenarios: An Approach Robust to Non-Gaussian Noise, IEEE/ION PLANS 2020, Portland, Oregon, USA. (cancelled due to COVID-19)

5. Hsu L.T., Wen W., (April 2020), New Integrated Navigation Scheme for the Level 4 Autonomous Vehicles in Dense Urban Areas, IEEE/ION PLANS 2020, Portland, Oregon, USA. (Invited Paper) (cancelled due to COVID-19)

6. Xu B., Hsu L.T., Suzuki T. (January 21-25, 2020) Intermediate Frequency Level GPS Multipath/NLOS Simulator based on Vector Tracking and Ray Tracing, ION ITM 2020, San Diego, California, USA. [slide]

7. Meng Q., Hsu L.T., Feng S. (November 22-25, 2020) Online Integrity Alert Limit Determination Method for Autonomous Vehicle Navigation, 11th China Satellite Navigation Conference, Chengdu, China (pp696-706).

1. Wen W., Kan Y.C., Hsu L.T.(Presenter) (Sept 16-20, 2019) Performance Comparison of GNSS/INS Integrations based on EKF and Factor Graph Optimization, ION GNSS+ 2019, Miami, Florida, USA.

2. Ng H.F., Zhang G., Hsu L.T. (Presenter) (Sept 16-20, 2019) GNSS NLOS Pseudorange Correction based on Skymask for Smartphone Applications, ION GNSS+ 2019, Miami, Florida, USA. (Best Presentation Award). [slide]

3. Meng Q., Hsu L.T. (Sept 16-20, 2019) A GNSS Internal Spoofing Generator using Vector-Based Receiver, ION GNSS+ 2019, Miami, Florida, USA.

4. Zhang G. (Sept 16-20, 2019) 3D Mapping Aided GNSS-Based Cooperative Positioning Using Factor Graph Optimization, ION GNSS+ 2019, Miami, Florida, USA. [slide]

5. Bai X., Wen W., Hsu L.T. (Presenter) (August 28-31, 2019) Performance Analysis of Visual/Inertial Integrated Positioning in Typical Urban Scenarios of Hong Kong, Proceedings of 2019 Asian-Pacific Conference on Aerospace Technology and Science, Taiwan. [slide]

6. Fang W., Li H., Dang S., Huang H., Peng L., Hsu L.T., Wen W. (Dec 2019) Combining Deep Gaussian Process and Rule-Based Method for Decision-Making in Self-Driving Simulation with Small Data. In 2019 15th International Conference on Computational Intelligence and Security (CIS) (pp. 267-271). IEEE.

7. Wen W., Hsu L.T. (August 28-31, 2019) GNSS/INS Integration Based on Graph Optimization for Vehicular Positioning, Proceedings of 2019 Asian-Pacific Conference on Aerospace Technology and Science, Taiwan

8. Xu B., Hsu L.T. (May 22-25, 2019) NLOS signal detection and correction based on vector tracking in urban environments, Proceedings of China Satellite Navigation Conference, Beijing, China.

9. Wen W., Zhan W., Hsu L.T. (May 6-8, 2019) Robust Localization Using 3D NDT Matching and Beam Model for Autonomous Vehicles in an Urban Scenario with Dynamic Obstacles, Proceedings of Mobile Mapping Technology, Shenzhen, China.

10. Xu B., Hsu L.T. (April 8-11, 2019) NLOS Detection and Compensation using a Vector Tracking-based GPS Software Receiver, Proceedings of ION Pacific PNT 2019, Honolulu, HA, USA. [slide]

11. Ng H.F., Zhang G., Hsu L.T. (April 8-11, 2019) Range-based 3D Mapping Aided GNSS with NLOS Correction based on Skyplot with Building Boundaries, Proceedings of ION Pacific PNT 2019, Honolulu, HA, USA.

12. Bai X., Wen W., Zhang G., Hsu L.T. (April 8-11, 2019) Real-time GNSS NLOS Detection and Correction Aided by Sky-Pointing Camera and 3D LiDAR, Proceedings of ION Pacific PNT 2019, Honolulu, HA, USA. [slide]

1. Xu H., Zhang G., Xu B., Hsu L.T. (November 2018) GNSS Shadow Matching based on Intelligent LOS/NLOS Classifier, IAIN 2018, Chiba, Japan.

2. Wen W., Zhang G., Hsu L.T. (September 2018) Correcting GNSS NLOS by 3D LiDAR and Building Height, ION GNSS+ 2018, Miami, Florida, USA.

3. Zhang G., Wen W., Hsu L.T. (September 2018) Collaborative GNSS Positioning with the Aids of 3D City Models, ION GNSS+ 2018, Miami, Florida, USA. (Best Presentation Award)

4. Wen W., Zhang G., Hsu L.T. (April 2018) 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, IEEE PLANS 2018, Monterey, California, USA.

5. Zhang G., Wen W., Hsu L.T. (April 2018) A Novel GNSS based V2V Cooperative Localization to Exclude Multipath Effect using Consistency Checks, IEEE PLANS 2018, Monterey, California, USA.

6. Li Q., Ai L., Xiao J., Hsu L.T., Kamijo S., Gu Y. (April 2018) Tightly coupled RTK/MIMU using single frequency BDS/GPS/QZSS receiver for automatic driving vehicle, IEEE PLANS 2018, Monterey, California, USA.

1. Luo H., Hsu L.T., Chen W. (December 10-13, 2017) BLE and PDR integration for seamless positioning system under GNSS challenged environments, Proceedings of International Symposium on GNSS, Hong Kong. (Best Student Poster Award)

2. Zhang G., Hsu L.T. (December 10-13, 2017) Adaptive GNSS/INS Integration Based on Supervised Machine Learning Approach, Proceedings of International Symposium on GNSS, Hong Kong. (Best Student Paper Award)

3. Hsu L.T. (Presenter) (October 16-19, 2017) GNSS Multipath Detection Using a Machine Learning Approach, Proceedings of IEEE ITSC 2017, Yokohama, Japan.

4. Zhang G., Hsu L.T. (September 25-29, 2017) A New Path Planning Algorithm Based on GNSS Localization Error Map, Proceedings of ION GNSS+2017, OR, USA.

5. Gu Y., Hsu L.T., Kamijo S. (October 16-19, 2017) Acquisition of Precise Probe Vehicle Data in Urban City Based on Three-Dimensional Map Aided GNSS, 2017 IEEE 20th International Conference on Intelligent Transportation Systems (ITSC 2017), Yokohama, Japan.

1. Hsu L.T., Kamijo S. (December 2-5, 2016) Determination of Vehicle Driving On or Under Bridges using a Standard GNSS Navigator, Proceedings of International Symposium on GNSS, Tainan, Taiwan.

2. Gu Y., Hashimoto Y., Hsu L.T., Kamijo S. (October, 2016) Motion planning based on learning models of pedestrian and driver behaviors, Proceedings of IEEE ITSC 2016, Rio de Janeiro, pp. 808-813.

3. Bao J., Gu Y., Hsu L.T., Kamijo S. (June 19-22, 2016) Vehicle self-localization using 3D building map and stereo camera, Proceedings of IEEE IV Symposium, Gothenburg, Sweden.

4. Hsu L.T., Gu Y., Kamijo S. (May 30, 2016) Autonomous driving positioning using building model and DGNSS, Proceedings of European Navigation Conference 2016, Helsinki, Finland.

5. Gu Y., Wada Y., Hsu L.T., Kamijo S. (April 11-14, 2016) SLAM with 3Dimensional-GNSS, Proceedings of IEEE/ION PLANS 2016, Savannah, Georgia, USA.

6. Hsu L.T., Gu Y., Kamijo S. (April 11-14, 2016) Sensor Integration of 3D Map Aided GNSS and Smartphone PDR in Urban Canyon with Dense Foliage, Proceedings of IEEE/ION PLANS 2016, Savannah, Georgia, USA.

1. Huang Y., Hsu L.T., Gu Y., Wang H., Kamijo S. (November 16-19, 2015) Assessment of Outdoor Wi-Fi Fingerprint Calibration using Different GNSS Approaches, Proceedings of International Symposium on GNSS, Tokyo.

2. Hsu L.T., Tokura H., Kubo N., Kamijo S. (November 16-19, 2015) GNSS positioning using WLS, DGNSS and RAIM in Tokyo City, Proceedings of International Symposium on GNSS, Tokyo, Japan.

3. Gu Y., Hsu L.T., Kamijo S. (November 5-7, 2015) Correction of Vehicle Positioning Error Using 3D-Map-GNSS and Vision-based Road Marking Detection, Proceedings of IEEE ICVES 2015, Yokohama, Japan.

4. Hsu L.T., Wada Y., Gu Y., Kamijo S., (November 5-7, 2015) Rectification of 3D Building Models Based on GPS Signal Collected by Vehicle, Proceedings of IEEE ICVES 2015, Yokohama, Japan.

5. Javanmardi M., Gu Y., Javanmardi E., Hsu L.T., Kamijo S. (November 5-7, 2015) 3D Building Map Reconstruction in Dense Urban Areas by Integrating Airborne Laser Point Cloud with 2D Boundary map, Proceedings of IEEE ICVES 2015, Yokohama, Japan.

6. Hsu L.T., Gu Y., Kamijo S., (September 15-18, 2015), Pedestrian Localization Service using 3D Map and RAIM GNSS Satellite Selection Technique, Proceedings of IEEE ITSC 2015, Canary Islands, Spain.

7. Kamijo S., Gu Y., Hsu L.T. (September 15-18, 2015) GNSS/INS/On-Board Camera Integration for Vehicle Self-Localization in Urban Canyon, Proceedings of IEEE ITSC 2015, Canary Islands, Spain.

8. Hashimoto Y., Gu Y., Hsu L.T., Kamijo S. (September 15-18, 2015) A Probabilistic Model for the Estimation of Pedestrian Crossing Behavior at Signalized Intersections GNSS/INS/On-Board Camera Integration for Vehicle Self-Localization in Urban Canyon, Proceedings of IEEE ITSC 2015, Canary Islands, Spain.

9. Hsu L.T. (Presenter), Kamijo S. (September 14-18, 2015) NLOS Exclusion using Consistency Check and City Building Model in Deep Urban Canyons,” Proceedings of ION GNSS+ 2015, FL, USA.

10. Hsu L.T. (Presenter), Tokura H., Kubo N., Kamijo S. (September 14-18, 2015) Evaluation of Multiple Fault Exclusion Based on L1 Norm Minimization with multi-GNSS measurements in Urban Environments, Proceedings of ION GNSS+ 2015, Tampa, FL, USA

11. Gu Y., Hsu L.T., Wada Y., Kamijo S. (April 21-23, 2015) Integration of 3D Map based GPS Positioning and On-Board Sensors for Vehicle Self-Localization in Urban Canyon, Proceedings of ION Pacific PNT 2015, Honolulu, HA, USA.

12. Hsu L.T., Wada Y., Gu Y., Kamijo S. (April 7-10, 2015) A Study of City Building Model Based Positioning Method using Multi-GNSS in Deep Urban Canyon, Proceedings of European Navigation Conference 2015, Bordeaux, France.

13. Hsu L.T. (Presenter), Gu Y., Wada Y., Chen F., Kamijo S. (January 26-28, 2015) Evaluation of QZSS L1-SAIF for 3D Map-Based Pedestrian Positioning Method in an Urban Canyon Environment, Proceedings of ION ITM 2015, Dana Point, CA, USA.