Tightly Coupled Multi-Sensor Fusion

multi-sensor fusionLiDARIMUcameravisual-inertialGNSS/INS

Continuous, drift-free navigation needs robust fusion:

LiDAR-inertial odometry
Visual-inertial navigation (VIO)
Fusion frameworks that stay stable in adverse conditions

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

3D LiDAR Aided GNSS NLOS Correction by Direction-of-Arrival Estimation Using Doppler Measurements in Urban Canyons

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

IEEE Transactions on Intelligent Transportation Systems (2025)

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journal

3D LiDAR Aided GNSS NLOS Mitigation in Urban Canyons

Wen W. and Hsu L. -T

IEEE Transactions on Intelligent Transportation Systems (2022)

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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)

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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)

DOI

journal

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

Gu Y, Hsu L. T, Kamijo S

IEICE TRANSACTIONS on Fundamentals of Electronics, Communications and Computer Sciences (2016)

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journal

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

Wen W, Hsu L. T

Navigation, Journal of Institute of Navigation (2022)

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journal

An Anti-spoofing Model based on MVM and MCCM for a Loosely-coupled GNSS/INS/LiDAR Kalman Filter

Chang J, Zhang Y, Fan S, Huang F, Xu D, Hsu L. T

IEEE Transactions on Intelligent Vehicles (2023)

DOI

journal

Automated Camera Positioning for Digital Twinning: Incorporating 360-Degree Imaging, Differential Rendering, and 3D Spatial Data

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

IEEE Transactions on Instrumentation and Measurement (2025)

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journal

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)

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journal

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

Wen W, Zhang G, Hsu L. T

Navigation, Journal of Institute of Navigation (2019)

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journal

Cyclist Orientation Estimation Using LiDAR Data

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

Sensors (2023)

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journal

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)

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journal

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)

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journal

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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journal

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)

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journal

Fault Detection Algorithm for Gaussian Mixture Noises: An Application in Lidar/IMU Integrated Localization Systems

Yan P, Li Z, Huang F, Wen W, Hsu L. T

NAVIGATION: Journal of the Institute of Navigation (2025)

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journal

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)

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journal 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)

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journal

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)

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journal

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)

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journal

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)

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journal

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)

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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)

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journal

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)

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journal

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

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)

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journal

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)

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journal

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)

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magazine

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

Wen W, Hsu L. T

Inside GNSS (2019)

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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)

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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)

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journal

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)

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journal

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)

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journal

Scalar and vector tracking loop simulation based on a uniform semi-analytic model and robustness analysis in multipath/NLOS situations. GPS Solutions 26(97)

Jia Q, Hsu L. T, Wu R

(2022)

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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

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)

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journal

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

Yang S, Hsu L.T

Aerospace Science and Technology (2021)

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journal

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)

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journal

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)

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