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Work related to urbanNav Dataset

Please emails to welson.wen@polyu.edu.hk if you used this dataset and publish papers based on it.

if you use GraphGNSSLib for your academic research, please cite our related codes and paper

  • Wen, W., Pfeifer, T., Bai, X., & Hsu, L. T. (2021). Factor graph optimization for GNSS/INS integration: A comparison with the extended Kalman filter. NAVIGATION, Journal of the Institute of Navigation, 68(2), 315-331. https://doi.org/10.1002/navi.421
  • Wen, Weisong, Xiwei Bai, Li-Ta Hsu, and Tim Pfeifer. "GNSS/LiDAR Integration Aided by Self-Adaptive Gaussian Mixture Models in Urban Scenarios: An Approach Robust to Non-Gaussian Noise." In 2020 IEEE/ION Position, Location and Navigation Symposium (PLANS), pp. 647-654. IEEE, 2020. https://doi.org/10.1109/PLANS46316.2020.9110157
  • Zhang, Jiachen, Weisong Wen, Feng Huang, Xiaodong Chen, and Li-Ta Hsu. 2021. "Coarse-to-Fine Loosely-Coupled LiDAR-Inertial Odometry for Urban Positioning and Mapping" Remote Sensing 13, no. 12: 2371. https://doi.org/10.3390/rs13122371
  • Huang, Feng, Weisong Wen, Jiachen Zhang and L. Hsu. “Point wise or Feature wise? Benchmark Comparison of Public Available LiDAR Odometry Algorithms in Urban Canyons.” IEEE Intelligent Transportation Systems Magazine (accepted), 2021.
  • Li, Tao, Ling Pei, Yan Xiang, Qi Wu, Songpengcheng Xia, Lihao Tao, and Wenxian Yu. "P3-LOAM: PPP/LiDAR Loosely Coupled SLAM with Accurate Covariance Estimation and Robust RAIM in Urban Canyon Environment." IEEE Sensors Journal (2020). paper
  • Chen, Chao, and Guobin Chang. "PPPLib: An open-source software for precise point positioning using GPS, BeiDou, Galileo, GLONASS, and QZSS with multi-frequency observations." GPS Solutions 25, no. 1 (2020): 1-7. PPPLib Code, paper
  • Li, Kailai, Meng Li, and Uwe D. Hanebeck. "Towards high-performance solid-state-lidar-inertial odometry and mapping." IEEE Robotics and Automation Letters 6.3 (2021): 5167-5174.
  • Wen, Weisong, Guohao Zhang, and Li-Ta Hsu. "Exclusion of GNSS NLOS receptions caused by dynamic objects in heavy traffic urban scenarios using real-time 3D point cloud: An approach without 3D maps." Position, Location and Navigation Symposium (PLANS), 2018 IEEE/ION. IEEE, 2018.
  • 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 18, 3928.
  • Wen, W., Zhang, G., Hsu, Li-Ta (Presenter), Correcting GNSS NLOS by 3D LiDAR and Building Height, ION GNSS+, 2018, Miami, Florida, USA.
  • Zhang, G., Wen, W., Hsu, Li-Ta, Collaborative GNSS Positioning with the Aids of 3D City Models, ION GNSS+, 2018, Miami, Florida, USA. (Best Student Paper Award)
  • Zhang, G., Wen, W., Hsu, Li-Ta, A Novel GNSS based V2V Cooperative Localization to Exclude Multipath Effect using Consistency Checks, IEEE PLANS, 2018, Monterey, California, USA. Copyright (c) 2018 Weisong WEN