Seamless Multi-Sensor PNT for Embodied Systems

multi-sensor fusionGNSS/INSLiDAR-inertial odometryvisual-inertial odometryUWBWi-Fi RTTsmartphoneswearablesrobots / vehicles / dronesindoor/outdoor seamless positioning

We build navigation systems for real platforms: vehicles, robots, drones, smartphones, wearables, and indoor/outdoor mobile systems. These platforms require tight GNSS/INS/LiDAR/camera/UWB/Wi-Fi fusion, robustness to low-cost sensors, and seamless operation across open-sky, urban canyon, indoor, and GNSS-denied conditions.

The thread spans smartphone-grade urban positioning (3DMA GNSS for L5/E5a/B2a smartphone receivers; ITF-ITSP HK$801k AI-aided Smartphone Urban Positioning for HK Smart Cities), autonomous-vehicle perception integration (LiDAR + camera + GNSS + INS), UAV navigation (Limin Endowed Young Scholar in Aerospace Navigation), connected-AV safety (RGC CRF Co-PI HK$7M Enhancing the Safety of AVs via Cross-Layer Security Hardening), and indoor positioning anchored by the 2025 Artech House book Principles of Indoor Positioning and Indoor Navigation (Hsu, Zhang, Wen) and IPIN 2024 General Chair role.

Related Publications

patent

3d lidar aided global navigation satellite system and the method for non-line-of-sight detection and correction

Hsu L. T, Wen W

Patent (2022)

journal Q1

3D LiDAR Aided GNSS NLOS Mitigation in Urban Canyons

Wen W. and Hsu L.-T.

IEEE Transactions on Intelligent Transportation Systems (2022)

journal Q1

3D Point Clouds Data Super Resolution Aided LiDAR Odometry for Vehicular Positioning in Urban Canyons

Yue J., Wen W., Han J., Hsu L. T.

IEEE Transactions on Vehicular Technology (2021)

conference

A Fault Detection Algorithm for LiDAR/IMU Integrated Localization Systems with Non-Gaussian Noises

Penggao Yan, Weisong Wen, Feng Huang, Li-Ta Hsu

The International Technical Meeting of the The Institute of Navigation (2024)

journal Q1

A probabilistic model of pedestrian crossing behavior at signalized intersections for connected vehicles

Hashimoto Y., Gu Y., Hsu L. T., Iryo-Asano M., Kamijo S.

Transportation Research Part C-Emerging Technologies (2016)

journal Q4

Accurate Estimation of Pedestrian Orientation from On-board Camera and Inertial Sensors

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

IEICE Transactions (2016)

conference

Adaptive Multi-Sensor Integrated Navigation System Aided by Continuous Error Map from RSU for Autonomous Vehicles in Urban Areas

Feng Huang, Weisong Wen, Guohao Zhang, Dongzhe Su, Li-Ta Hsu

2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC) (2023)

journal Q1

AGPC-SLAM: Absolute Ground Plane Constrained 3D LiDAR SLAM

Wen W., Hsu L. T.

NAVIGATION: Journal of the Institute of Navigation (2022)

conference

An Adaptive Weighted GNSS/VINS/Wi-Fi RTT-based Seamless Positioning System for Smartphone

Meiling Su, Bing Wang, Sugata Ahad, Xinyue Huang, Guohao Zhang, Li-Ta Hsu

2024 14th International Conference on Indoor Positioning and Indoor Navigation (IPIN) (2024)

conference

An empirical multi-wall NLOS ranging model for Wi-Fi RTT indoor positioning

Qing Liang, Guohao Zhang, Li-Ta Hsu

2023 13th International Conference on Indoor Positioning and Indoor Navigation (IPIN) (2023)

journal Q1

Coarse-to-Fine Loosely-Coupled LiDAR-Inertial Odometry for Urban Positioning and Mapping

Zhang J., Wen W., Huang F., Hsu L. T.

Remote Sensing (2021)

journal Q1

Correcting NLOS by 3D LiDAR and building height to improve GNSS single point positioning

Wen W., Zhang G., Hsu L. T.

NAVIGATION: Journal of the Institute of Navigation (2019)

journal Q2

Cyclist Orientation Estimation Using LiDAR Data

Chang, H., Gu, Y., Goncharenko, I., Hsu, L. T., Premachandra, C.

Sensors (2023)

journal Q4

Database Calibration for Outdoor Wi-Fi Positioning System

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

IEICE Transactions (2016)

journal Q2

Development of an Indoor Location Based Service Test Bed and Geographic Information System with a WSN

Jan S. S., Hsu L. T., Tsai W. M.

Sensors (2010)

journal unranked

Development of Indoor Positioning and Location Based Information Test Bed

Hsu L. T., Tsai W. M., Jan S. S.

Journal of Aeronautics, Astronautics and Aviation, Series A (2009)

conference

Differentiable Factor Graph Optimization with Intelligent Covariance Adaptation for Accurate Smartphone Positioning

Penghui Xu, Hoi-Fung Ng, Yihan Zhong, Guohao Zhang, Weisong Wen, Bo Yang, Li-Ta Hsu

Proceedings of the 36th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2023) (2023)

journal Q1

Dynamic Object-aware LiDAR Odometry Aided by Joint Weightings Estimation in Urban Areas

Huang, F., Wen, W., Zhang, J., Wang, C., Hsu, L. T.

IEEE Transactions on Intelligent Vehicles (2023)

journal Q1

Enhancing positioning in GNSS denied environments based on an extended Kalman filter using past GNSS measurements and IMU

Iyer, K., Dey, A., Xu, B., Sharma, N., Hsu, L. T.

IEEE Transactions on Vehicular Technology (2024)

journal Q?

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)

journal Q4

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 (2015)

conference

Factor Graph Optimization-based Indoor Pedestrian SLAM with Probabilistic Exact Activity Loop Closures using Smartphone

Shiyu Bai, Weisong Wen, Li-Ta Hsu, Yue Yu

2023 13th International Conference on Indoor Positioning and Indoor Navigation (IPIN) (2023)

journal Q1

Factor Graph Optimization-Based Smartphone IMU-Only Indoor SLAM With Multi-Hypothesis Turning Behavior Loop Closures

Bai, S., Wen, W., Hsu, L. T., Yang, P.

IEEE Transactions on Aerospace and Electronic Systems (2024)

journal Q1

Framework for Low-Cost Indoor Smartphone Camera-based Localization Using Spherical Panorama and BIM

Lee, M. J. L., Lin, J., Zhang, G., Hsu, L. T.

IEEE Sensors Journal (2025)

journal Q1 Featured

GLIO: Tightly-coupled gnss/lidar/imu integration for continuous and drift-free state estimation of intelligent vehicles in urban areas

Liu, X., Wen, W., Hsu, L. T.

IEEE Transactions on Intelligent Vehicles (2023)

journal Q4

GNSS Correction using Altitude Map and Its Integration with Pedestrian Dead Reckoning

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

IEICE Transactions on Fundamentals of Electronics, Communications and Computer Science (2018)

journal Q1

GNSS NLOS Exclusion Based on Dynamic Object Detection Using LiDAR Point Cloud

Wen W., Zhang G., Hsu L. T.

IEEE Transactions on Intelligent Transportation Systems (2019)

journal Q1

GNSS RUMS: GNSS Realistic Urban Multi-agent Simulator for Collaborative Positioning Research

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

Remote Sensing (2021)

journal Q2

GNSS-RTK Adaptively Integrated with LiDAR/IMU Odometry for Continuously Global Positioning in Urban Canyons

Zhang J, Wen W, Huang F, Wang Y, Chen X, Hsu L. T.

Applied Sciences (2022)

conference

GNSS/Map Integration with Batch Factor Graph Optimization for Reliable Trajectory Estimation in Urban Canyon

Yihan Zhong, Hoi-Fung Ng, Li-Ta Hsu, Weisong Wen

2025 IEEE/ION Position, Location and Navigation Symposium (PLANS) (2025)

journal Q1

GNSS/Visual/IMU/Map Integration Via Sliding Window Factor Graph Optimization for Vehicular Positioning in Urban Areas

Bai, X., Hsu, L. T.

IEEE Transactions on Intelligent Vehicles (2024)

journal Q1

Graph-Based Indoor 3D Pedestrian Location Tracking With Inertial-Only Perception

Bai, S., Wen, W., Su, D., Hsu, L. T.

IEEE Transactions on Mobile Computing (2025)

conference

GVIM: GNSS/Visual/IMU/Map Integration Via Sliding Window Factor Graph Optimization in Urban Canyons

Xiwei Bai, Li-Ta Hsu

Proceedings of the 36th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2023) (2023)

journal Q1 Featured

Hong Kong UrbanNav: An open-source multisensory dataset for benchmarking urban navigation algorithms

Hsu, L. T., Huang, F., Ng, H. F., Zhang, G., Zhong, Y., Bai, X., Wen, W.

NAVIGATION: Journal of the Institute of Navigation (2023)

patent

Indoor Fire Monitoring Based on Look-Up-From-Floor Sensing of Ceiling

Wang Q, Huang X, Shaheer M, Mohammad T, Zhang X, Luo M, Hsu L. T, Wu X, Xiao F, Usmani A

Patent (2024)

journal Q1

Intelligent GNSS/INS Integrated Navigation System for a Commercial UAV Flight Control System

Zhang G., Hsu L. T.

Aerospace Science and Technology (2018)

conference

Invariant Extended Kalman Filtering for Pedestrian Deep-Inertial Odometry

Shiyu Bai, Weisong Wen, Yue Yu, Li-Ta Hsu

The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences (2024)

journal Q1

LiDAR-based NDT Matching Performance Evaluation for Positioning in Adverse Weather Conditions

Chang, J., Hu, R., Huang, F., Xu, D., Hsu, L. T.

IEEE Sensors Journal (2023)

journal unranked

Localization Uncertainty Constrained Lateral PID Control with Aids of Fuzzy Logic Considering LiDAR NDT Matching Error

Hu S., Kan Y.C., Hsu L.T.

Journal of Aeronautics, Astronautics and Aviation, Series A (2021)

journal Q3

Low‐cost solid‐state LiDAR/inertial‐based localization with prior map for autonomous systems in urban scenarios

Zhong, Y., Huang, F., Zhang, J., Wen, W., Hsu, L. T.

IET Intelligent Transport Systems (2023)

magazine

Magazine Article

Coordinates Magazine (2011)

journal Q2

Multi-Agent Collaborative GNSS/Camera/INS Integration Aided by Inter-ranging for Vehicular Navigation in Urban Areas

Wen W., Bai X., Zhang G., Chen S., Yuan F., Hsu L. T.

IEEE Access (2020)

journal Q1

Object Detection Aided GNSS and Its Integration with LiDAR in Highly Urbanized Areas

Wen W., Zhang G., Hsu L. T.

IEEE Intelligent Transportation Systems Magazine (2020)

magazine

Perceived Environment Aided GNSS Single Point Positioning: An Example using LiDAR Scanner

Wen W, Hsu L. T

Inside GNSS (2019)

journal Q2

Performance Evaluation on Map-based NDT Scan Matching Localization using Simulated Occlusion Datasets

Kan Y.C., Hsu L. T., Chung E.

IEEE Sensors Letter (2021)

book

Principles of Indoor Positioning and Indoor Navigation

Hsu L. T., Zhang G., Wen W.

Artech House Publishers Inc (2025)

magazine

Real Time Indoor Location Based Service Test Bed (II)

Hsu L. T, Tsai W. M, Jan S. S

Coordinates Magazine (2011)

conference

Roadside GNSS Aided Multi-Sensor Integrated System for Vehicle Positioning in Urban Areas

Feng Huang, Yihan Zhong, Hang Chen, Dongzhe Su, Jin Wu, Weisong Wen, Li-Ta Hsu

2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2025)

conference

Roadside Infrastructure assisted LiDAR/Inertial-based Mapping for Intelligent Vehicles in Urban Areas

Feng Huang, Hang Chen, Alpamys Urtay, Dongzhe Su, Weisong Wen, Li-Ta Hsu

2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC) (2023)

journal Q1 Featured

Robust GNSS Shadow Matching for Smartphones in Urban Canyons

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

IEEE Sensors Journal (2021)

journal Q1

Robust Visual-Inertial Integrated Navigation System Aided by Online Sensor Model Adaption for Autonomous Ground Vehicles in Urban Areas

Bai X., Wen W., Hsu L. T.

Remote Sensing (2020)

journal Q1

Safety-quantifiable line feature-based monocular visual localization with 3d prior map

Zheng, X., Wen, W., Hsu, L. T.

IEEE Transactions on Intelligent Transportation Systems (2025)

journal Q1

Safety-Quantifiable Planar-Feature-based LiDAR Localization with a Prior Map for Intelligent Vehicles in Urban Scenarios

Zhang, J., Liu, X., Wen, W., Hsu, L. T.

IEEE Transactions on Intelligent Vehicles (2024)

journal Q1

Scalar and vector tracking loop simulation based on a uniform semi-analytic model and robustness analysis in multipath/NLOS situations

Jia, Q., Hsu, L. T. and Wu, R.

GPS Solutions (2022)

journal Q2

Semantic-Based VPS for Smartphone Localization in Challenging Urban Environments

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

Sensors (2021)

journal Q2

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)

journal Q1

Tightly Coupled GNSS/INS Integration Via Factor Graph and Aided by Fish-eye Camera

Wen W., Bai X., Kan Y.C., Hsu L. T.

IEEE Transactions on Vehicular Technology (2019)

journal Q1

Tightly Coupled Integrated Navigation System Via Factor Graph for UAV Indoor Localization

Yang S., Hsu L.T.

Aerospace Science and Technology (2021)

journal Q1

Tightly joined positioning and control model for unmanned aerial vehicles based on factor graph optimization

Yang, P., Wen, W., Bai, S., Hsu, L. T.

IEEE Transactions on Vehicular Technology (2025)

conference

Tightly-coupled Line Feature-aided Visual Inertial Localization within Lightweight 3D Prior Map for Intelligent Vehicles

Xi Zheng, Weisong Wen, Li-Ta Hsu

2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC) (2023)

journal Q1

Tightly-coupled visual/inertial/map integration with observability analysis for reliable localization of intelligent vehicles

Zheng, X., Wen, W., Hsu, L. T.

IEEE Transactions on Intelligent Vehicles (2024)

journal Q3

Towards high‐definition vector map construction based on multi‐sensor integration for intelligent vehicles: Systems and error quantification

Hu, R., Bai, S., Wen, W., Xia, X., Hsu, L. T.

IET Intelligent Transport Systems (2024)

journal Q1

Towards Persistent Spatial Awareness: A Review of Pedestrian Dead Reckoning-Centric Indoor Positioning with Smartphones

Bai, S., Wen, W., Li, Y., Shi, C., Hsu, L. T.

IEEE Transactions on Instrumentation and Measurement (2024)

journal Q1

Trajectory Smoothing Using GNSS/PDR Integration Via Factor Graph Optimization in Urban Canyons

Zhong, Y., Wen, W., Hsu, L. T.

IEEE Internet of Things Journal (2024)

journal Q3

Uncertainty Estimation of LiDAR Matching Aided by Dynamic Vehicle Detection and High Definition Map

Wen W., Bai X., Zhan W., Tomizuka M., Hsu L. T.

IET Electronics Letters (2019)

journal Q1

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)

journal Q1

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

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

NAVIGATION: Journal of the Institute of Navigation (2021)

journal Q3

Using Sky-Pointing Fish-eye Camera and LiDAR to Aid GNSS Single Point Positioning in Urban Canyons

Bai X., Wen W., Hsu L. T.

IET Intelligent Transport Systems (2020)