Weisong Wen (Welson)

icon indicating a website link https://polyu-taslab.github.io/team/ 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 171 issues of Weisong Wen (Welson)

Weighted Plane Features for Simultaneous Localization and Mapping

This thesis presents the utilization of weighted plane features for SLAM to increase the overall accuracy of SLAM systems. Planes are created from depth images and matched according to their...

WHAT ARE THE ROLES OF ARTIFICIAL INTELLIGENCE AND MACHINE LEARNING IN GNSS POSITIONING? – INSIDE GNSS

For decades, artificial intelligence and machine learning have advanced at a rapid pace. Today, there are many ways artificial intelligence and machine learning are used behind the scenes to impact...

Smartphone GNSS Performance in an Urban Scenario with RAIM Application

In an urban scenario, GNSS performance is strongly influenced by gross errors in the measurements, usually related to multipath and non-line-of-sight phenomena. The use of RAIM algorithms is a common...

Multipath Mitigation for GNSS Positioning in an Urban Environment Using Sparse Estimation

Multipath (MP) remains the main source of error when using global navigation satellite systems (GNSS) in a constrained environment, leading to biased measurements and thus to inaccurate estimated positions. This...

Single‑frequency GNSS cycle slip estimation with positional polynomial constraint

Single-frequency GNSS RTK is a promising technology in the popularization application due to its relative low expense compared to multi-frequency RTK. Owing to the incapability of forming between-frequency combination and...

Detection of Red Tide over Sea Surface Using GNSS-R Spaceborne Observations

Due to the continuous intensification of human activities in the ocean, the frequent outbreaks of red tide have caused great harm to the marine environment and ecology. Thus, the rapid...

LeGO-LOAM-SC: An Improved Simultaneous Localization and Mapping Method Fusing LeGO-LOAM and Scan Context for Underground Coalmine

Simultaneous localization and mapping (SLAM) is one of the key technologies for coal mine underground operation vehicles to build complex environment maps and positioning and to realize unmanned and autonomous...

Robust Self-Supervised LiDAR Odometry Via Representative Structure Discovery and 3D Inherent Error Modeling

The correct ego-motion estimation basically relies on the understanding of correspondences between adjacent LiDAR scans. However, given the complex scenarios and the low-resolution LiDAR, finding reliable structures for identifying correspondences...

Graph-optimisation-based self-calibration method for IMU/odometer using preintegration theory

Determination of calibration parameters is essential for the fusion performance of an inertial measurement unit (IMU) and odometer integrated navigation system. Traditional calibration methods are commonly based on the filter...

Complex urban dataset with multi-level sensors from highly diverse urban environments

The high diversity of urban environments, at both the inter and intra levels, poses challenges for robotics research. Such challenges include discrepancies in urban features between cities and the deterioration...