Weisong Wen (Welson)
Weisong Wen (Welson)
Precise Point Positioning (PPP), a cutting edge GNSS technology, can achieve high-precision positioning without base station assistance. Visual-Inertial Odometry (VIO) realizes a more robust local pose estimation than Visual-SLAM. Based...
Accurate and reliable localization in urban environments is critical for high-level autonomous driving systems. In comparison to other localization strategies, map-based methods are more reliable and have higher localization accuracy....
The authors describe a general-purpose, representation-independent method for the accurate and computationally efficient registration of 3-D shapes including free-form curves and surfaces. The method handles the full six degrees of...
Given a plant whose trajectories of interest remain in a known compact set and an associated observer, we propose a general framework to modify this observer so that its state...
The key to precise global navigation satellite system (GNSS) positioning is carrier phase integer ambiguity resolution with a high success rate. On the other hand when the success rate is...
Predicting the safety of urban roads for navigation via global navigation satellite systems (GNSS) signals is considered. To ensure safe driving of automated vehicles, the vehicle must plan its trajectory...
— Autonomous driving (AD) agents generate driving policies based on online perception results, which are obtained at multiple levels of abstraction, e.g., behavior planning, motion planning and control. Driving policies...
This paper presents research concerning the use of visual-inertial Simultaneous Localization And Mapping (SLAM) algorithms to aid in Continuous Wave (CW) radar target mapping. SLAM is an established field in...
The computational efficiency is critical with the increasing number of GNSS satellites and ground stations since many unknown parameters must be estimated. Although only active parameters are kept in the...
The Google Smartphone Decimeter Challenge (GSDC) was a competition held in 2021, where data from a variety of instruments useful for determining a phone’s position (signals from GPS satellites, accelerometer...