面向具身系统的无缝多传感器 PNT

多传感器融合GNSS/INSLiDAR 惯性里程计视觉惯性里程计UWBWi-Fi RTT智能手机可穿戴机器人 / 车辆 / 无人机室内外无缝定位

我们为真实平台构建导航系统 —— 车辆、机器人、无人机、智能手机、可穿戴设备。这类系统需要 GNSS/INS/LiDAR/相机/UWB/Wi-Fi 紧耦合、对低成本传感器稳健,并且要在开阔天空、城市峡谷、室内、GNSS 拒止环境下无缝运行。

单一传感器无法到处工作 —— GNSS 在室内和峡谷失效、INS 会漂移;IPNL 用因子图把 GNSS / INS / LiDAR / 相机 / UWB / Wi-Fi 紧耦合,实现无缝定位。

这条研究方向覆盖:智能手机级城市定位(L5/E5a/B2a 手机接收机的 3DMA GNSS;ITF-ITSP HK$801k 面向香港智慧城市的 AI 辅助智能手机城市定位)、自动驾驶感知集成(LiDAR + 相机 + GNSS + INS)、无人机导航(励铭航空导航青年学者)、室内定位(以 2025 Artech House 著作 室内定位与室内导航原理(Hsu, Zhang, Wen)与 IPIN 2024 大会主席工作为锚)。

相关论文

2026 (3)

patent

Lee, J& Hsu, L. T (2026).Multi-feature visual positioning method (ZL 202110638139.9). China National Intellectual Property Administration. https://patents.google.com/patent/CN115527044B

journal Q1

Liang, Q., Zhang, G., & Hsu, L.-T. (2026).Accurate Wi-Fi RTT indoor positioning with NLOS mitigation by floor map: a multi-wall modeling approach. IEEE Transactions on Instrumentation and Measurement. https://doi.org/10.1109/TIM.2024.3436101

journal Q1

Song, B., Giamou, M., Yan, P., Xia, C., & Hsu, L.-T. (2026).Certifiable Alignment of GNSS and Local Frames via Lagrangian Duality. IEEE Robotics and Automation Letters. https://doi.org/10.1109/LRA.2026.3693943

2025 (9)

book

Hsu, L. T., Zhang, G., & Wen, W. (2025).Principles of Indoor Positioning and Indoor Navigation. Artech House Publishers Inc.

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Wang, Q, Huang, X, Shaheer, M, Mohammad, T, Zhang, X, Luo, M, Hsu, L. T, & Usmani, A (2025).Indoor Fire Monitoring Based on Look-Up-From-Floor Sensing of Ceiling (granted) (US 12,292,340 B2). U.S. Patent and Trademark Office. https://patents.google.com/patent/US12292340B2

patent

Lee, J& Hsu, L. T (2025).Visual Positioning System (provisional) (US 63/840,727 (provisional)). U.S. Patent and Trademark Office.

journal Q1

Bai, S., Wen, W., Su, D., & Hsu, L. T. (2025).Graph-Based Indoor 3D Pedestrian Location Tracking With Inertial-Only Perception. IEEE Transactions on Mobile Computing. https://doi.org/10.1109/tmc.2025.3526196

journal Q1

Zheng, X., Wen, W., & Hsu, L. T. (2025).Safety-quantifiable line feature-based monocular visual localization with 3d prior map. IEEE Transactions on Intelligent Transportation Systems. https://doi.org/10.1109/tits.2025.3572620

journal Q1

Yang, P., Wen, W., Bai, S., & Hsu, L. T. (2025).Tightly joined positioning and control model for unmanned aerial vehicles based on factor graph optimization. IEEE Transactions on Vehicular Technology. https://doi.org/10.1109/tvt.2025.3589556

journal Q1

Lee, M. J. L., Lin, J., Zhang, G., & Hsu, L. T. (2025).Framework for Low-Cost Indoor Smartphone Camera-based Localization Using Spherical Panorama and BIM. IEEE Sensors Journal. https://doi.org/10.1109/jsen.2025.3613996

conference

Huang, F., Zhong, Y., Chen, H., Dongzhe, Su, Jin, Wu, Wen, W., & Hsu, L.-T. (2025).Roadside GNSS Aided Multi-Sensor Integrated System for Vehicle Positioning in Urban Areas. 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). https://doi.org/10.1109/IROS60139.2025.11246475

conference

Zhong, Y., Hoi-Fung, Ng, Hsu, L.-T., & Wen, W. (2025).GNSS/Map Integration with Batch Factor Graph Optimization for Reliable Trajectory Estimation in Urban Canyon. 2025 IEEE/ION Position, Location and Navigation Symposium (PLANS). https://doi.org/10.1109/PLANS61210.2025.11028209

2024 (18)

patent

Wang, Q, Huang, X, Shaheer, M, Mohammad, T, Zhang, X, Luo, M, Hsu, L. T, X, W., Xiao, F, & Usmani, A (2024).Indoor Fire Monitoring Based on Look-Up-From-Floor Sensing of Ceiling (US 2023/0062745 A1). U.S. Patent and Trademark Office. https://patents.google.com/patent/US20230062745A1

patent

Wang, Q, Huang, X, Shaheer, M, Mohammad, T, Zhang, X, Luo, M, Hsu, L. T, X, W., Xiao, F, & Usmani, A (2024).Indoor Fire Monitoring Based on Look-Up-From-Floor Sensing of Ceiling (granted) (ZL 202211006213.6). China National Intellectual Property Administration (CNIPA).

patent

Wang, Q, Huang, X, Shaheer, M, Mohammad, T, Zhang, X, Luo, M, Hsu, L. T, X, W., Xiao, F, & Usmani, A (2024).Indoor Fire Monitoring Based on Look-Up-From-Floor Sensing of Ceiling (granted) (US 11,860,043 B2). U.S. Patent and Trademark Office. https://patents.google.com/patent/US11860043B2

journal Q3

Hu, R., Bai, S., Wen, W., Xia, X., & Hsu, L. T. (2024).Towards high‐definition vector map construction based on multi‐sensor integration for intelligent vehicles: Systems and error quantification. IET Intelligent Transport Systems. https://doi.org/10.1049/itr2.12524

journal Q1

Iyer, K., Dey, A., Xu, B., Sharma, N., & Hsu, L. T. (2024).Enhancing positioning in GNSS denied environments based on an extended Kalman filter using past GNSS measurements and IMU. IEEE Transactions on Vehicular Technology. https://doi.org/10.1109/tvt.2024.3360076

journal Q1

Zhong, Y., Hu, R., Bai, X., Li, X., Hsu, L. T., & Wen, W. (2024).Enhancing GNSS Positioning Accuracy for Road Monitoring Systems: A Factor Graph Optimization Approach Aided by Geospatial Information. IEEE Transactions on Instrumentation and Measurement. https://doi.org/10.1109/tim.2024.3369156

journal Q1

Zhong, Y., Wen, W., & Hsu, L. T. (2024).Trajectory Smoothing Using GNSS/PDR Integration Via Factor Graph Optimization in Urban Canyons. IEEE Internet of Things Journal. https://doi.org/10.1109/jiot.2024.3396360

journal Q1

Bai, X.& Hsu, L. T. (2024).GNSS/Visual/IMU/Map Integration Via Sliding Window Factor Graph Optimization for Vehicular Positioning in Urban Areas. IEEE Transactions on Intelligent Vehicles. https://doi.org/10.1109/tiv.2024.3412208

journal Q1

Zheng, X., Wen, W., & Hsu, L. T. (2024).Tightly-coupled visual/inertial/map integration with observability analysis for reliable localization of intelligent vehicles. IEEE Transactions on Intelligent Vehicles. https://doi.org/10.1109/tiv.2024.3419101

journal Q1

Bai, S., Wen, W., Hsu, L. T., & Yang, P. (2024).Factor Graph Optimization-Based Smartphone IMU-Only Indoor SLAM With Multi-Hypothesis Turning Behavior Loop Closures. IEEE Transactions on Aerospace and Electronic Systems. https://doi.org/10.1109/taes.2024.3430256

journal Q1

Zhang, J., Liu, X., Wen, W., & Hsu, L. T. (2024).Safety-Quantifiable Planar-Feature-based LiDAR Localization with a Prior Map for Intelligent Vehicles in Urban Scenarios. IEEE Transactions on Intelligent Vehicles. https://doi.org/10.1109/tiv.2024.3467115

journal Q1

Bai, S., Wen, W., Li, Y., Shi, C., & Hsu, L. T. (2024).Towards Persistent Spatial Awareness: A Review of Pedestrian Dead Reckoning-Centric Indoor Positioning with Smartphones. IEEE Transactions on Instrumentation and Measurement. https://doi.org/10.1109/tim.2024.3470043

journal Q?

Ho, H. Y., Ng, H. F., Wen, W., Gu, Y., & Hsu, L. T. (2024).Enhancing Smartphone-based Pedestrian Positioning: Using Factor Graph Optimization with Indoor/Outdoor Detection for 3DMA GNSS/Visual-Inertial State Estimation. Journal of Data Science and Intelligent Systems. https://doi.org/10.47852/bonviewjdsis42022961

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Bai, S., Wen, W., Yue, Yu, & Hsu, L.-T. (2024).Invariant Extended Kalman Filtering for Pedestrian Deep-Inertial Odometry. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences. https://doi.org/10.5194/isprs-archives-xlviii-4-2024-607-2024

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Debiao, Lu, Wang, H., Cai, B., Wang, J., Liu, J., Zhang, G., & Hsu, L.-T. (2024).BDS for Train Localization Performance Forecast in Railway Environments Using Machine Learning. ION Pacific PNT. https://doi.org/10.33012/2024.19652

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Yan, P., Wen, W., Huang, F., & Hsu, L.-T. (2024).A Fault Detection Algorithm for LiDAR/IMU Integrated Localization Systems with Non-Gaussian Noises. The International Technical Meeting of the The Institute of Navigation. https://doi.org/10.33012/2024.19564

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Lee, M. J. L., Lin, Ju, & Hsu, L.-T. (2024).Exploring the Feasibility of Automated Data Standardization using Large Language Models for Seamless Positioning. 2024 14th International Conference on Indoor Positioning and Indoor Navigation (IPIN). https://doi.org/10.1109/IPIN62893.2024.10786123

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Meiling, Su, Wang, B., Ahad, S., Huang, X., Zhang, G., & Hsu, L.-T. (2024).An Adaptive Weighted GNSS/VINS/Wi-Fi RTT-based Seamless Positioning System for Smartphone. 2024 14th International Conference on Indoor Positioning and Indoor Navigation (IPIN). https://doi.org/10.1109/IPIN62893.2024.10786175

2023 (18)

journal Q3

Zhong, Y., Huang, F., Zhang, J., Wen, W., & Hsu, L. T. (2023).Low‐cost solid‐state LiDAR/inertial‐based localization with prior map for autonomous systems in urban scenarios. IET Intelligent Transport Systems. https://doi.org/10.1049/itr2.12273

journal Q2

Chang, H., Gu, Y., Goncharenko, I., Hsu, L. T., & Premachandra, C. (2023).Cyclist Orientation Estimation Using LiDAR Data. Sensors. https://doi.org/10.3390/s23063096

journal Q1

Yan, P., Wen, W., & Hsu, L. T. (2023).Integration of Vehicle Dynamic Model and System Identification Model for Extending the Navigation Service Under Sensor Failures. IEEE Transactions on Intelligent Vehicles. https://doi.org/10.1109/tiv.2023.3273185

journal Q1

Chang, J., Huang, F., Zhang, L., Xu, D., & Hsu, L. T. (2023).Selection of Areas for Effective GNSS Spoofing Attacks to a Vehicle-mounted MSF System based on Scenario Classification Models. IEEE Transactions on Vehicular Technology. https://doi.org/10.1109/tvt.2023.3279831

journal Q1

Chan, Y. Y., Ng, K. K., Lee, C. K. M., Hsu, L. T., & Keung, K. L. (2023).Wind dynamic and energy-efficiency path planning for unmanned aerial vehicles in the lower-level airspace and urban air mobility context. Sustainable Energy Technologies and Assessments. https://doi.org/10.1016/j.seta.2023.103202

journal Q1

Chang, J., Hu, R., Huang, F., Xu, D., & Hsu, L. T. (2023).LiDAR-based NDT Matching Performance Evaluation for Positioning in Adverse Weather Conditions. IEEE Sensors Journal. https://doi.org/10.1109/jsen.2023.3312911

journal Q1

Wen, W., Bai, X., & Hsu, L. T. (2023).3D Vision Aided GNSS Real-Time Kinematic Positioning for Autonomous Systems in Urban Canyons. NAVIGATION: Journal of the Institute of Navigation. https://doi.org/10.33012/navi.590

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Liu, X., Wen, W., & Hsu, L. T. (2023).GLIO: Tightly-coupled gnss/lidar/imu integration for continuous and drift-free state estimation of intelligent vehicles in urban areas. IEEE Transactions on Intelligent Vehicles. https://doi.org/10.1109/tiv.2023.3323648

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Huang, F., Wen, W., Zhang, J., Wang, C., & Hsu, L. T. (2023).Dynamic Object-aware LiDAR Odometry Aided by Joint Weightings Estimation in Urban Areas. IEEE Transactions on Intelligent Vehicles. https://doi.org/10.1109/tiv.2023.3338141

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Chen, P., Guan, W., Huang, F., Zhong, Y., Wen, W., Hsu, L. T., & Lu, P. (2023).ECMD: An Event-Centric Multisensory Driving Dataset for SLAM. IEEE Transactions on Intelligent Vehicles. https://doi.org/10.1109/tiv.2023.3339144

journal Q1 Featured

Hsu, L. T., Huang, F., Ng, H. F., Zhang, G., Zhong, Y., Bai, X., & Wen, W. (2023).Hong Kong UrbanNav: An open-source multisensory dataset for benchmarking urban navigation algorithms. NAVIGATION: Journal of the Institute of Navigation. https://doi.org/10.33012/navi.602

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Zhong, Y., Wen, W., & Hsu, L.-T. (2023).Towards Accurate Vehicle-to-Pedestrian Relative Positioning Aided by Inter-Frame and Inter-Agent GNSS Measurement Collaboration Using Factor Graph Optimization for Smart Summon. Proceedings of the 36th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2023). https://doi.org/10.33012/2023.19471

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Zheng, Xi, Wen, W., & Hsu, L.-T. (2023).Tightly-coupled Line Feature-aided Visual Inertial Localization within Lightweight 3D Prior Map for Intelligent Vehicles. 2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC). https://doi.org/10.1109/itsc57777.2023.10422196

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Huang, F., Chen, H., Urtay, A., Dongzhe, Su, Wen, W., & Hsu, L.-T. (2023).Roadside Infrastructure assisted LiDAR/Inertial-based Mapping for Intelligent Vehicles in Urban Areas. 2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC). https://doi.org/10.1109/itsc57777.2023.10422552

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Bai, X.& Hsu, L.-T. (2023).GVIM: GNSS/Visual/IMU/Map Integration Via Sliding Window Factor Graph Optimization in Urban Canyons. Proceedings of the 36th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2023). https://doi.org/10.33012/2023.19458

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Bai, S., Wen, W., Hsu, L.-T., & Yue, Yu (2023).Factor Graph Optimization-based Indoor Pedestrian SLAM with Probabilistic Exact Activity Loop Closures using Smartphone. 2023 13th International Conference on Indoor Positioning and Indoor Navigation (IPIN). https://doi.org/10.1109/ipin57070.2023.10332510

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Liang, Q., Zhang, G., & Hsu, L.-T. (2023).An empirical multi-wall NLOS ranging model for Wi-Fi RTT indoor positioning. 2023 13th International Conference on Indoor Positioning and Indoor Navigation (IPIN). https://doi.org/10.1109/ipin57070.2023.10332471

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Huang, F., Wen, W., Zhang, G., Dongzhe, Su, & Hsu, L.-T. (2023).Adaptive Multi-Sensor Integrated Navigation System Aided by Continuous Error Map from RSU for Autonomous Vehicles in Urban Areas. 2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC). https://doi.org/10.1109/itsc57777.2023.10422216

2022 (5)

patent

Hsu, L. T& Wen, W (2022).3D LiDAR Aided GNSS and the Method for NLOS Detection and Correction (US 2023/0033404 A1). U.S. Patent and Trademark Office. https://patents.google.com/patent/US20230033404A1

journal Q2

Zhang, J, Wen, W, Huang, F, Wang, Y, Chen, X, & Hsu, L. T. (2022).GNSS-RTK Adaptively Integrated with LiDAR/IMU Odometry for Continuously Global Positioning in Urban Canyons. Applied Sciences. https://doi.org/10.3390/app12105193

journal Q1

Wen, W. and Hsu L.-T. (2022).3D LiDAR Aided GNSS NLOS Mitigation in Urban Canyons. IEEE Transactions on Intelligent Transportation Systems. https://doi.org/10.1109/tits.2022.3167710

journal Q1

Zhang, L.& Hsu, L. T. and Zhang T. (2022).A Novel INS/USBL Integrated Navigation Scheme Via Factor Graph Optimization. IEEE Transactions on Vehicular Technology. https://doi.org/10.1109/tvt.2022.3177739

journal Q1

Wen, W.& Hsu, L. T. (2022).AGPC-SLAM: Absolute Ground Plane Constrained 3D LiDAR SLAM. NAVIGATION: Journal of the Institute of Navigation. https://doi.org/10.33012/navi.527

2021 (13)

patent

Zhang, G& Hsu, L. T (2021).3D map-aided GNSS cooperative positioning method and system (ZL 201910866398.X). China National Intellectual Property Administration. https://patents.google.com/patent/CN110426717B

journal unranked

S., H., Kan, Y.C., & Hsu, L.T. (2021).Localization Uncertainty Constrained Lateral PID Control with Aids of Fuzzy Logic Considering LiDAR NDT Matching Error. Journal of Aeronautics, Astronautics and Aviation, Series A.

journal Q2

Kan, Y.C., Hsu, L. T., & Chung, E. (2021).Performance Evaluation on Map-based NDT Scan Matching Localization using Simulated Occlusion Datasets. IEEE Sensors Letter. https://doi.org/10.1109/lsens.2021.3060097

journal Q1

Zhang, G., B., X., H.F., N., & Hsu, L. T. (2021).GNSS RUMS: GNSS Realistic Urban Multi-agent Simulator for Collaborative Positioning Research. Remote Sensing. https://doi.org/10.20944/preprints202012.0647.v1

journal Q1 Featured

H.F., N., Zhang, G., & Hsu, L. T. (2021).Robust GNSS Shadow Matching for Smartphones in Urban Canyons. IEEE Sensors Journal. https://doi.org/10.1109/jsen.2021.3083801

journal Q1

H.F., N., Zhang, G., & Hsu, L. T. (2021).Urban Positioning: 3D Mapping Aided GNSS using Dual-Frequency Pseudorange Measurements from Smartphones. NAVIGATION: Journal of the Institute of Navigation. https://doi.org/10.1002/navi.448

journal Q1

Zhang, J., Wen, W., Huang, F., & Hsu, L. T. (2021).Coarse-to-Fine Loosely-Coupled LiDAR-Inertial Odometry for Urban Positioning and Mapping. Remote Sensing. https://doi.org/10.3390/rs13122371

journal Q1

Yang, S.& Hsu, L.T. (2021).Tightly Coupled Integrated Navigation System Via Factor Graph for UAV Indoor Localization. Aerospace Science and Technology. https://doi.org/10.1016/j.ast.2020.106370

journal Q2

Luo, H., Y., L., Wang, J., Weng, D., J., Y., Hsu, L. T., & Chen, W. (2021).Integration of GNSS and BLE Technology With Inertial Sensors for Real-Time Positioning in Urban Environments. IEEE Access. https://doi.org/10.1109/access.2021.3052733

journal Q1

Yue, J., Wen, W., Han, J., & Hsu, L. T. (2021).3D Point Clouds Data Super Resolution Aided LiDAR Odometry for Vehicular Positioning in Urban Canyons. IEEE Transactions on Vehicular Technology. https://doi.org/10.1109/tvt.2021.3069212

journal Q1

Xue, D., Hsu, L. T., Wu, C-.L., Lee, C-.H., & Ng, K. K. H. (2021).Cooperative surveillance systems and digital-technology enabler for a real-time standard terminal arrival schedule displacement. Advanced Engineering Informatics. https://doi.org/10.1016/j.aei.2021.101402

journal Q2

Lee, J.L. M., Hsu, L. T., & H.-F., N. (2021).Semantic-Based VPS for Smartphone Localization in Challenging Urban Environments. Sensors. https://doi.org/10.3390/s21186137

journal Q1

Bai, X., Wen, W., & Hsu, L. T. (2021).Degeneration-aware Outlier Mitigation for Visual Inertial Integrated Navigation System in Urban Canyons. IEEE Transactions on Instrumentation and Measurement. https://doi.org/10.1109/tim.2021.3126010

2020 (8)

journal Q3

Meng, Q.& Hsu, L. T. (2020).Integrity for Autonomous Vehicles and Towards a Novel Alert Limit Determination Method. Proc. IMechE, Part D: Journal of Automobile Engineering. https://doi.org/10.1177/0954407020965760

journal Q2

Xue, D., H., N. K., & Hsu, L. T. (2020).Multi-Objective Flight Altitude Decision Considering Contrails, Fuel Consumption and Flight Time. Sustainability. https://doi.org/10.3390/su12156253

journal Q1

Chiang, K. W., H., L. Y., Hsu, L. T., & Chu, F. Y. (2020).The Design a TDCP-Smoothed GNSS/Odometer Integration Scheme with Vehicular-Motion Constraint and Robust Regression. Remote Sensing. https://doi.org/10.3390/rs12162550

journal Q1

Bai, X., Wen, W., & Hsu, L. T. (2020).Robust Visual-Inertial Integrated Navigation System Aided by Online Sensor Model Adaption for Autonomous Ground Vehicles in Urban Areas. Remote Sensing. https://doi.org/10.20944/preprints202003.0018.v1

journal Q1

Wen, W., Zhang, G., & Hsu, L. T. (2020).Object Detection Aided GNSS and Its Integration with LiDAR in Highly Urbanized Areas. IEEE Intelligent Transportation Systems Magazine. https://doi.org/10.1109/mits.2020.2994131

journal Q2

Wen, W., Bai, X., Zhang, G., Chen, S., Yuan, F., & Hsu, L. T. (2020).Multi-Agent Collaborative GNSS/Camera/INS Integration Aided by Inter-ranging for Vehicular Navigation in Urban Areas. IEEE Access. https://doi.org/10.1109/access.2020.3006210

journal Q2

H.F., N., Zhang, G., Yang, K.Y., & Yang, S. X. Hsu L. T. (2020).Improved Weighting Scheme using Consumer-level GNSS L5/E5a/B2a Pseudorange Measurements in the Urban Area. Advances in Space Research. https://doi.org/10.1016/j.asr.2020.06.002

journal Q1

Zhang, G., Wen, W. Xu B., & Hsu, L. T. (2020).Extending Shadow Matching to Tightly-Coupled GNSS/INS Integration System. IEEE Transactions on Vehicular Technology. https://doi.org/10.1109/tvt.2020.2981093

2019 (4)

book

Hsu, L. T., Wen, W., & Zhang, G (2019).Chapter 2 - Vehicular Positioning System. Nova Science Publishers Inc.

journal unranked

Xue, D., Sun, R., & Hsu, L. T. (2019).Optimal Takeoff Time Assignment under Severe Weather. Journal of Aeronautics, Astronautics and Aviation, Series A.

journal Q3

Wen, W., Bai, X., Zhan, W., Tomizuka, M., & Hsu, L. T. (2019).Uncertainty Estimation of LiDAR Matching Aided by Dynamic Vehicle Detection and High Definition Map. IET Electronics Letters. https://doi.org/10.1049/el.2018.8075

journal Q1

Wen, W., Bai, X., Kan, Y.C., & Hsu, L. T. (2019).Tightly Coupled GNSS/INS Integration Via Factor Graph and Aided by Fish-eye Camera. IEEE Transactions on Vehicular Technology. https://doi.org/10.1109/tvt.2019.2944680

2018 (5)

patent

Wang, Y& Hsu, L. T (2018).Positioning method and electronic equipment (CN 111198389B). China National Intellectual Property Administration. https://patents.google.com/patent/CN111198389B

journal Q2

Y., G., Hsu, L.T., & Kamijo, S. (2018).Towards lane-level traffic monitoring in urban environment using precise probe vehicle data derived from three-dimensional map aided differential GNSS. IATSS Research. https://doi.org/10.1016/j.iatssr.2018.03.001

journal Q2

Zhang, G.& Hsu, L.T. (2018).A New Path Planning Algorithm Using GNSS Localization Error Map for UAV in Urban Area. Journal of Intelligent & Robotic Systems. https://doi.org/10.1007/s10846-018-0894-5

journal Q1

Zhang, G.& Hsu, L. T. (2018).Intelligent GNSS/INS Integrated Navigation System for a Commercial UAV Flight Control System. Aerospace Science and Technology. https://doi.org/10.1016/j.ast.2018.07.026

journal Q2

Wen, W., Hsu, L. T., & Zhang, G. (2018).Performance analysis of NDT-based graph slam for autonomous vehicle in diverse typical driving scenarios of Hong Kong. Sensors. https://doi.org/10.3390/s18113928

2017 (1)

journal Q1

Hsu, L.T., Y., G., & Kamijo, S. (2017).Intelligent Viaduct Recognition and Driving Altitude Determination using GPS Data. IEEE Transactions on Intelligent Vehicles. https://doi.org/10.1109/tiv.2017.2737325

2016 (6)

journal Q3

Y., G., Hsu, L. T., Bao, J., & Kamijo, S. (2016).Integrating Global Navigation Satellite System and Road-Marking Detection for Vehicle Localization in Urban Traffic. Transportation Research Record Journal. https://doi.org/10.3141/2595-07

journal Q2

Y., G., Hashimoto, Y., Hsu, L. T., Iryo-Asano, M., & Kamijo, S. (2016).Human-like motion planning model for driving in signalized intersections. IATSS Research. https://doi.org/10.1016/j.iatssr.2016.11.002

journal Q4

Huang, Y., Hsu, L.T., Y., G., Wang, H., & Kamijo, S. (2016).Database Calibration for Outdoor Wi-Fi Positioning System. IEICE Transactions. https://doi.org/10.1587/transfun.e99.a.1683

journal Q4

Y., G., Hsu, L. T., & Kamijo, S. (2016).Accurate Estimation of Pedestrian Orientation from On-board Camera and Inertial Sensors. IEICE Transactions. https://doi.org/10.1587/transfun.e99.a.271

journal Q1

Hsu, L. T., Y., G., Huang, Y., & Kamijo, S. (2016).Urban Pedestrian Navigation using Smartphone-based Dead Reckoning and 3D Maps Aided GNSS. IEEE Sensors Journal. https://doi.org/10.1109/jsen.2015.2496621

journal Q1

Hashimoto, Y., Y., G., Hsu, L. T., Iryo-Asano, M., & Kamijo, S. (2016).A probabilistic model of pedestrian crossing behavior at signalized intersections for connected vehicles. Transportation Research Part C-Emerging Technologies. https://doi.org/10.1016/j.trc.2016.07.011

2015 (3)

journal Q4

Hsu, L. T., Chen, F., & Kamijo, S. (2015).Evaluation of Multi-GNSSs and GPS with 3D Map Methods for Pedestrian Positioning in an Urban Canyon Environment. IEICE Transactions. https://doi.org/10.1587/transfun.e98.a.284

journal Q2

Y., G., Hsu, L. T, & Kamijo, S. (2015).Passive Sensor Integration for Vehicle Self-Localization in Urban Traffic Environment. Sensors. https://doi.org/10.3390/s151229795

magazine

Kamijo, S, Y, G., & Hsu, L. T (2015).Autonomous Vehicle Technologies: Localization and Mapping. IEICE Fundamentals Review. https://doi.org/10.1587/essfr.9.2_131

2011 (2)

magazine

Hsu, L. T., Tsai, W. M., & Jan, S. S. (2011).Real-Time Indoor Location Based Service Test Bed I. Coordinates Magazine.

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magazine

Hsu, L. T, Tsai, W. M, & Jan, S. S (2011).Real Time Indoor Location Based Service Test Bed (II). Coordinates Magazine.

2010 (1)

journal Q2

Jan, S. S., Hsu, L. T., & Tsai, W. M. (2010).Development of an Indoor Location Based Service Test Bed and Geographic Information System with a WSN. Sensors. https://doi.org/10.3390/s100402957

2009 (1)

journal unranked

Hsu, L. T., Tsai, W. M., & Jan, S. S. (2009).Development of Indoor Positioning and Location Based Information Test Bed. Journal of Aeronautics, Astronautics and Aviation, Series A.

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