3D Mapping-Aided Positioning and Environment Awareness

3D mapping3DMA GNSSLiDARcity modelenvironment awareness

This line of work uses prior maps and perception:

3D city models and building models
LiDAR-aided environment reconstruction
Map-aided positioning and reliability assessment

Related Publications

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3D Building Model Pedestrian Positioning Method using GPS/GLONASS/QZSS and Its Reliability Calculation

Hsu L. T, Gu Y, Kamijo S

GPS Solutions (2016)

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journal

3D Mapping Database Aided GNSS Based Collaborative Positioning Using Factor Graph Optimization

Zhang G, Ng H. F, Hsu L. T

IEEE Transactions on Intelligent Transportation Systems (2020)

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journal Featured

3D Mapping Database Aided GNSS RTK and Its Assessments in Urban Canyons

Ng H.F, Hsu L.T

IEEE Transactions on Aerospace and Electronic Systems (2021)

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conference

3DMA GNSS Positioning with Multipath Signals in Urban Areas: Methodology and Preliminary Results

Mingda Ye, Guohao Zhang, Li-Ta Hsu

ION GNSS+, The International Technical Meeting of the Satellite Division of The Institute of Navigation (2024)

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A Computation Effective Range-Based 3D Mapping Aided GNSS with NLOS Correction Method

Ng H. F, Zhang G, Hsu L. T

Journal of Navigation (2020)

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Building Model Rectification Using GNSS Reflectometry

Ye M, Zhang G, Hsu L. T

IEEE Geoscience and Remote Sensing Letters (2024)

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Enhancing Smartphone-based Pedestrian Positioning: Using Factor Graph Optimization with Indoor/Outdoor Detection for 3DMA GNSS/Visual-Inertial State Estimation

Ho H. Y, Ng H. F, Wen W, Gu Y, Hsu L. T

Journal of Data Science and Intelligent Systems (2024)

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Evaluation of Multi-GNSSs and GPS with 3D Map Methods for Pedestrian Positioning in an Urban Canyon Environment

Hsu L. T, Chen F, Kamijo S

IEICE TRANSACTIONS on Fundamentals of Electronics, Communications and Computer Sciences (2015)

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journal

GNSS Doppler Velocity Estimation Aided by 3D Mapping Database

Zhang L, Ng H. F, Zhong Y, Zhang G, Hsu L. T

IEEE Transactions on Intelligent Transportation Systems (2024)

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journal

Grid-based 3DMA GNSS with clustering and Doppler velocity using factor graph optimisation

Ng H. F, Zhong Q, Groves P, Hsu L. T

The Journal of Navigation (2025)

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journal

Integrity Monitoring of multi-GNSS SPP and DGNSS in Urban Environment using ARAIM and 3D City Models

El-Mowafy A, Xu B, Hsu L. T

Journal of Spatial Science (2020)

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Multi-Epoch Kriging-Based 3D Mapping-Aided GNSS and Doppler Measurement Fusion using Factor Graph Optimization

Ng H. F, Hsu L. T, Zhang G

NAVIGATION: Journal of the Institute of Navigation (2023)

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journal

NLOS Correction/Exclusion for GNSS Measurement using RAIM and City Building Models

Hsu L. T, Gu Y, Kamijo S

Sensors (2015)

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journal

Optimization of 3D Building Models by GPS Measurements

Wada Y, Hsu L. T, Gu Y, Kamijo S

GPS Solutions (2016)

DOI

journal

Rectification of GNSS based Collaborative Positioning using 3D Building Models in Urban Areas

Zhang G, Wen W, Hsu L. T

GPS Solutions (2019)

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journal

Skymask Matching Aided Positioning Using Sky-Pointing Fisheye Camera and 3D City Models in Urban Canyons

Lee M.J.L, Lee S, Ng H. F, Hsu L T

Sensors (2020)

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journal

Three-Dimensional Mapping-Aided Global Navigation Satellite System in Global Navigation Satellite System-Accessible Indoor Areas

Hoi-Wah Ng, Hoi-Fung Ng, Li-Ta Hsu, John-Ross Rizzo

Sensors (2026)

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journal

Urban Pedestrian Navigation using Smartphone-based Dead Reckoning and 3D Maps Aided GNSS

Hsu L. T, Gu Y, Huang Y, Kamijo S

IEEE Sensors Journal (2016)

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journal

Urban Positioning: 3D Mapping Aided GNSS using Dual-Frequency Pseudorange Measurements from Smartphones

Ng H.F, Zhang G, Hsu L. T

Navigation, Journal of Institute of Navigation (2021)

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