Weisong Wen (Welson)

icon indicating a website link https://weisongwen.github.io/ icon indicating an email [email protected]

icon company Hong Kong Polytechnic University/University of California, Berkeley icon location Hung Hom, Kwolon, Hong Kong/CA, USA icon location Assistant Professor at The Hong Kong Polytechnic University. GNSS, NLOS/Multipath Mitigation, LiDAR SLAM, Navigation, Robotics.

Results 163 issues of Weisong Wen (Welson)

Factor graph for robot perception

https://web.archive.org/web/20190603175911id_/http://www.cs.cmu.edu/~kaess/pub/Dellaert17fnt.pdf

Nonlinear Regression-Based GNSS Multipath Modelling in Deep Urban Area

As the necessity of location information closely related to everyday life has increased, the use of global navigation satellite systems (GNSS) has gradually increased in populated urban areas. Contrary to...

Robust Vehicle Positioning in Multipath Environments Based on Graph Optimization

This paper proposes a high-precision positioning method using graph-based optimization with only a global navigation satellite system (GNSS) in an urban environment with GNSS multipath signals. GNSS has become an...

First Place Award Winner of the Smartphone Decimeter Challenge: Global Optimization of Position and Velocity by Factor Graph Optimization

This paper describes the first-place solution at a Google smartphone decimeter challenge (GSDC), which was held from May to August 2021. The GSDC is a competition for positioning accuracy using...

Performance Analysis of Zero-Difference GPS L1/L2/L5 and Galileo E1/E5a/E5b/E6 Point Positioning Using CNES Uncombined Bias Products

The modernization of Global Navigation Satellite System (GNSS) including the transmission of signals on multiple frequencies has greatly promoted the development of the popular PPP (Precise Point Positioning) technique. A...

GNSS observable-specific phase biases for all-frequency PPP ambiguity resolution

An unwritten rule to resolve GNSS ambiguities in precise point positioning (PPP-AR) is that users should follow faithfully the frequency choices and observable combinations mandated by satellite clock and phase...

Globally Consistent and Tightly Coupled 3D LiDAR Inertial Mapping

This paper presents a real-time 3D mapping framework based on global matching cost minimization and LiDAR-IMU tight coupling. The proposed framework comprises a preprocessing module and three estimation modules: odometry...

Improving GNSS/INS Tightly Coupled Positioning by Using BDS-3 Four-Frequency Observations in Urban Environments

Abstract: Vehicular positioning in urban environments has become a research hotspot in recent years, and global navigation satellite system/inertial navigation system (GNSS/INS) tightly coupled positioning is a commonly used method....

Nonlinear Regression-Based GNSS Multipath Modelling in Deep Urban Area

Abstract: As the necessity of location information closely related to everyday life has increased, the use of global navigation satellite systems (GNSS) has gradually increased in populated urban areas. Contrary...

SC-LiDAR-SLAM: a Front-end Agnostic Versatile LiDAR SLAM System

Accurate 3D point cloud map generation is a core task for various robot missions or even for data-driven urban analysis. To do so, light detection and ranging (LiDAR) sensor-based simultaneous...