Weisong Wen (Welson)

— A navigation system which can output drift-free global trajectory estimation with local consistency holds great potential for autonomous vehicles and mobile devices. We propose a tightly-coupled GNSS-aided visual-inertial navigation...

— Robotic systems such as unmanned ground vehicles (UGVs) often depend on GPS for navigation in outdoor environments. In GPS-denied environments, one approach to maintain a global state estimate is...

The autonomous driving of robots is coming and requires precise and reliable positioning information with lowcost sensors for the mass market. In this paper, we propose a tightly coupled sensor...

Reliable absolute positioning is indispensable in long-term positioning systems. Although simultaneous localization and mapping based on light detection and ranging (LiDAR-SLAM) is effective in global navigation satellite system (GNSS)-denied environments,...

Should Radar Replace Lidar in All-Weather Mapping and Localization? Radar is a rich sensing modality that is a compelling alternative to lidar for its inherent robustness to precipitation, dust, and...

Localization is a fundamental and crucial module for autonomous vehicles. Most of the existing localization methodologies, such as signal-dependent methods (RTK-GPS and Bluetooth), simultaneous localization and mapping (SLAM), and map-based...

https://arxiv.org/pdf/2203.03923.pdf

https://drive.google.com/file/d/1kzwPI4-icW6AZy3HvoAMiHtdBScn7AKa/view?usp=sharing

This paper analyzes the interferometric measurements of ground-based Global Navigation Satellite Systems (GNSS) stations and proposes a novel method for sea surface states detection. The novel technique benefits from a...

UWB and IMU fusion positioning methods have been widely concerned for its high accuracy and robustness in GNSS-denied environment. However, most of the existing methods are stay under the Markov...