Kai‐Wei Chiang
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View article: Mapping in the Future: Advancing HD Maps Creation with Semi-Automated Feature Extraction
Mapping in the Future: Advancing HD Maps Creation with Semi-Automated Feature Extraction Open
The production of high-definition maps (HD Maps) is a multi-stage, resource-intensive process that demands substantial investments in specialized equipment, skilled labor, and time. This study introduces a semi-automated mapping tool aimed…
View article: Real-Time Precision Navigation Design for Autonomous Vehicle with EGI System
Real-Time Precision Navigation Design for Autonomous Vehicle with EGI System Open
This research presents an innovative system framework, and a multi-sensor integration algorithm aimed at improving the navigation accuracy of autonomous vehicle (AV). This study addresses the shortcomings of the LiDAR-centric approach used…
View article: AI-Driven Mapping System for Smart Parking Management Applications Using an INS-GNSS-Solid-State LiDAR-Monocular Camera Fusion Engine Empowered by HD Maps
AI-Driven Mapping System for Smart Parking Management Applications Using an INS-GNSS-Solid-State LiDAR-Monocular Camera Fusion Engine Empowered by HD Maps Open
Efficient parking management is crucial in crowded Asian cities to optimize limited road space and parking facilities. The increasing vehicle ownership rate in Taiwan has intensified the demand for street parking, leading to excessive driv…
View article: A ROBUST AUTONOMOUS VEHICULAR NAVIGATION SYSTEM USING RIMU-BASED INS/GNSS INTEGRATED SCHEME
A ROBUST AUTONOMOUS VEHICULAR NAVIGATION SYSTEM USING RIMU-BASED INS/GNSS INTEGRATED SCHEME Open
The application of the INS/GNSS integrated system is widespread in vehicle navigation. However, in certain complex urban areas, achieving accurate positioning for autonomous vehicles at level 3 and beyond presents a challenge. Moreover, en…
View article: THE DEVELOPMENT AND VALIDATION OF A TACTICAL GRADE EGI SYSTEM FOR LAND VEHICULAR NAVIGATION APPLICATIONS
THE DEVELOPMENT AND VALIDATION OF A TACTICAL GRADE EGI SYSTEM FOR LAND VEHICULAR NAVIGATION APPLICATIONS Open
Over recent years, the utilization of commercially available integrated navigation systems for the development of navigation algorithms has become increasingly commonplace. Nevertheless, the wide range of sensor quality on the market compl…
View article: STRATEGY ON HIGH-DEFINITION POINT CLOUD MAP CREATION FOR AUTONOMOUS DRIVING IN HIGHWAY ENVIRONMENTS
STRATEGY ON HIGH-DEFINITION POINT CLOUD MAP CREATION FOR AUTONOMOUS DRIVING IN HIGHWAY ENVIRONMENTS Open
In recent years, a lot of researchers have been trying the development of efficient ways to create HD maps with centimeter-level precision. Mobile mapping system (MMS) produce 3D HD point cloud map of the surrounding by integrating navigat…
View article: EVALUATING NAVIGATION PERFORMANCE OF ELASTICALLY CONSTRUCTED HD MAP WITH MULTI-SENSOR FUSION ENGINE SYSTEM
EVALUATING NAVIGATION PERFORMANCE OF ELASTICALLY CONSTRUCTED HD MAP WITH MULTI-SENSOR FUSION ENGINE SYSTEM Open
In response to the rapid development of autonomous vehicles and the increasing demand for HD maps, the conventional mapping processes following HD maps guidelines require significant manpower and time resources. Therefore, we propose flexi…
View article: ALTERNATIVE GCP SOURCES FOR ACCURATE HD MAP PRODUCTION
ALTERNATIVE GCP SOURCES FOR ACCURATE HD MAP PRODUCTION Open
In Taiwan, map companies have to referenced the HD Maps guideline and standard which published in TAICS, Taiwan to make ensure the quality of data. The procedure costs lots of times and resources. In order to increase the capability and mi…
View article: AN EVALUATION OF SOLID-STATE LIDAR FOR LOCALIZATION AND HD POINT CLOUD MAPPING
AN EVALUATION OF SOLID-STATE LIDAR FOR LOCALIZATION AND HD POINT CLOUD MAPPING Open
Cost-effective navigation and positioning systems for autonomous vehicles has become a key focus of research in recent years. Having an accurate position within a lane is vital to enabling high levels of automation and improving safety. Tr…
View article: ESTABLISHMENT OF HD MAPS VERIFICATION AND VALIDATION PROCEDURE WITH OPENDRIVE AND AUTOWARE (LANELET2) FORMATS
ESTABLISHMENT OF HD MAPS VERIFICATION AND VALIDATION PROCEDURE WITH OPENDRIVE AND AUTOWARE (LANELET2) FORMATS Open
Mobile mapping technologies, for example multi-sensor integration and multi-platform mapping technology, have developed and improved over recent decades, various applications such as conventional mapping scenarios, rapid disaster response,…
View article: SEAMLESS REALTIME LANE LEVEL VEHICULAR NAVIGATION IN GNSS CHALLENGING ENVIRONMENTS USING A RTK GNSS/IMU/VINS INTEGRATION SCHEME
SEAMLESS REALTIME LANE LEVEL VEHICULAR NAVIGATION IN GNSS CHALLENGING ENVIRONMENTS USING A RTK GNSS/IMU/VINS INTEGRATION SCHEME Open
Outdoor positioning requires a reliable solution that can work in environments where satellite signals are often blocked or degraded. Global Navigation Satellite System (GNSS) is a common choice, but it may not provide accurate results for…
View article: DESIGN AND IMPLEMENTATION OF STEREO VISUAL ODOMETRY SYSTEM BASED ON ROP ADJUSTMENT
DESIGN AND IMPLEMENTATION OF STEREO VISUAL ODOMETRY SYSTEM BASED ON ROP ADJUSTMENT Open
Stereo Visual Odometry (SVO) is a technique used to estimate the continuous position and orientation of a moving platform using a dual-camera system that captures stereo image pairs. To obtain accurate results, A SVO system must be calibra…
View article: V-SLAM ENHANCED INS/GNSS FUSION SCHEME FOR LANE LEVEL VEHICULAR NAVIGATION APPLICATIONS IN DYNAMIC ENVIRONMENT
V-SLAM ENHANCED INS/GNSS FUSION SCHEME FOR LANE LEVEL VEHICULAR NAVIGATION APPLICATIONS IN DYNAMIC ENVIRONMENT Open
With the development of different sensors, such as global navigation satellite system (GNSS), inertial measurement unit (IMU), LiDAR, radar and camera, more localization information is available for autonomous vehicular applications. Howev…
View article: PERFORMANCE OF LOCALIZATION BASED ON VISUAL SLAM AND LIDAR POINT CLOUD REGISTRATION
PERFORMANCE OF LOCALIZATION BASED ON VISUAL SLAM AND LIDAR POINT CLOUD REGISTRATION Open
Self-driving car technology has become increasingly popular in recent years. Traditionally, these cars rely on GNSS and INS, but limitations in urban environments can affect their effectiveness. GNSS technology has developed to address thi…
View article: THE IMPLEMENTATION OF SEMI-AUTOMATED ROAD SURFACE MARKINGS EXTRACTION SCHEMES UTILIZING MOBILE LASER SCANNED POINT CLOUDS FOR HD MAPS PRODUCTION
THE IMPLEMENTATION OF SEMI-AUTOMATED ROAD SURFACE MARKINGS EXTRACTION SCHEMES UTILIZING MOBILE LASER SCANNED POINT CLOUDS FOR HD MAPS PRODUCTION Open
As research on autonomous driving deepens, High-definition Maps (HD Maps) have gradually become an auxiliary information for the new generation of autonomous driving technology. Compared to traditional electronic navigation maps, HD Maps h…
View article: A CNN-SPEED-BASED GNSS/PDR INTEGRATED SYSTEM FOR SMARTWATCH
A CNN-SPEED-BASED GNSS/PDR INTEGRATED SYSTEM FOR SMARTWATCH Open
In recent years, wearable devices such as smart bands and smartwatches have gained widespread popularity due to their ability to provide various health and fitness applications by detecting and analyzing the human body and motion informati…
View article: THE DEVELOPMENT AND VALIDATION OF A NAVIGATION GRADE EGI SYSTEM FOR LAND VEHICULAR NAVIGATION APPLICATIONS
THE DEVELOPMENT AND VALIDATION OF A NAVIGATION GRADE EGI SYSTEM FOR LAND VEHICULAR NAVIGATION APPLICATIONS Open
In recent years, most people use commercial integrated navigation systems to develop navigation algorithms. However, due to the different levels of sensors on the market, it is difficult to customize commercial systems and leads to limited…
View article: Performance of LiDAR-SLAM-based PNT with initial poses based on NDT scan matching algorithm
Performance of LiDAR-SLAM-based PNT with initial poses based on NDT scan matching algorithm Open
To achieve higher automation level of vehicles defined by the Society of Automotive Engineers, safety is a key requirement affecting navigation accuracy. We apply Light Detection and Ranging (LiDAR) as a main auxiliary sensor and propose L…
View article: Interpretation and Transformation of Intrinsic Camera Parameters Used in Photogrammetry and Computer Vision
Interpretation and Transformation of Intrinsic Camera Parameters Used in Photogrammetry and Computer Vision Open
The precision modelling of intrinsic camera geometry is a common issue in the fields of photogrammetry (PH) and computer vision (CV). However, in both fields, intrinsic camera geometry has been modelled differently, which has led researche…
View article: Verification and validation procedure for high-definition maps in Taiwan
Verification and validation procedure for high-definition maps in Taiwan Open
Producing high-definition maps (HD maps) is critical for achieving the goal of safe autonomous vehicles. These maps must have sufficient quality to ensure safety in self-driving applications. In this paper, a procedure for the verifying th…
View article: Automated Modeling of Road Networks for High-Definition Maps in OpenDRIVE Format Using Mobile Mapping Measurements
Automated Modeling of Road Networks for High-Definition Maps in OpenDRIVE Format Using Mobile Mapping Measurements Open
With growing attention being devoted to autonomous vehicle (AV) safety, people have recently attached importance to high-definition (HD) maps. HD maps are not limited by environmental factors and can limit AVs driving in certain lanes. HD …
View article: Bending the Curve of HD Maps Production for Autonomous Vehicle Applications in Taiwan
Bending the Curve of HD Maps Production for Autonomous Vehicle Applications in Taiwan Open
Mapping technologies have improved over time, and autonomous driving techniques have advanced substantially over recent decades. High-definition (HD) maps are key for autonomous driving because of their accurate and rich interpretations of…
View article: A CASE STUDY OF PEDESTRIAN POSITIONING WITH UWB AND UAV CAMERAS
A CASE STUDY OF PEDESTRIAN POSITIONING WITH UWB AND UAV CAMERAS Open
The development and availability on consumer devices of the global navigation satellite systems (GNSS) have dramatically changed the everyday-life of most of the human population, enabling real time navigation on almost any smart device pr…
View article: NETWORK ADJUSTMENT OF AUTOMATED RELATIVE ORIENTATION FOR A DUAL-CAMERA SYSTEM
NETWORK ADJUSTMENT OF AUTOMATED RELATIVE ORIENTATION FOR A DUAL-CAMERA SYSTEM Open
Visual odometry (VO) is a technique applied to track the dynamic positioning and orientation of a moving platform with one or more cameras taking image sequences. The determination relies on the estimation of relative orientation parameter…
View article: The Design a TDCP-Smoothed GNSS/Odometer Integration Scheme with Vehicular-Motion Constraint and Robust Regression
The Design a TDCP-Smoothed GNSS/Odometer Integration Scheme with Vehicular-Motion Constraint and Robust Regression Open
Global navigation satellite system (GNSS) is widely regarded as the primary positioning solution for intelligent transport system (ITS) applications. However, its performance could degrade, due to signal outages and faulty-signal contamina…
View article: IMPROVED INDOOR POSITIONING USING BLE DIFFERENTIAL DISTANCE CORRECTION AND PEDESTRIAN DEAD RECKONING
IMPROVED INDOOR POSITIONING USING BLE DIFFERENTIAL DISTANCE CORRECTION AND PEDESTRIAN DEAD RECKONING Open
Recently, indoor positioning becomes a popular issue because of its corresponding location-aware applications. Owing to the limits of the sheltered signal of satellites in indoor environments, one of the alternative scheme is Bluetooth Low…
View article: VISUAL-BASED INTEGRATED NAVIGATION SYSTEM APPLIED TO A SIMULATION OF LUNAR MODULE LANDING
VISUAL-BASED INTEGRATED NAVIGATION SYSTEM APPLIED TO A SIMULATION OF LUNAR MODULE LANDING Open
With the development of space technology, more and more lunar researches are performed by different countries. For the lunar landing mission success, the lunar landing module should equip with advanced Positioning and Orientation System (P…
View article: INTEGRATION OF PDR AND IMAGE-BASED POSITIONING AIDED BY ARTIFICIAL NEURAL NETWORKS IN INDOOR ENVIRONMENT
INTEGRATION OF PDR AND IMAGE-BASED POSITIONING AIDED BY ARTIFICIAL NEURAL NETWORKS IN INDOOR ENVIRONMENT Open
Location based service (LBS) is a popular issue in recent years, which can be applied widely. The most common one is providing the local information and the guide of the Point of Interesting (POI) to users, which means positioning is the n…
View article: THE ASSESSMENT OF CURVED CENTERLINE GENERATION IN HDMAPS BASED ON POINT CLOUDS
THE ASSESSMENT OF CURVED CENTERLINE GENERATION IN HDMAPS BASED ON POINT CLOUDS Open
Over the decades, autonomous driving technology has attracted a lot of attention and is under rapid development. However, it still suffers from inadequate accuracy in a certain area, such as the urban area, Global Navigation Satellite Syst…
View article: The Performance Analysis of INS/GNSS/V-SLAM Integration Scheme Using Smartphone Sensors for Land Vehicle Navigation Applications in GNSS-Challenging Environments
The Performance Analysis of INS/GNSS/V-SLAM Integration Scheme Using Smartphone Sensors for Land Vehicle Navigation Applications in GNSS-Challenging Environments Open
Modern smartphones contain embedded global navigation satellite systems (GNSSs), inertial measurement units (IMUs), cameras, and other sensors which are capable of providing user position, velocity, and attitude. However, it is difficult t…