Explanipedia

Learning to Utilize Multi-Scale Feature Information for Crisp Power Line Detection Open

Kai Li, Min Liu, Feiran Wang, Xinyang Guo, Han Geng , et al. · 2025

Power line detection (PLD) is a crucial task in the electric power industry where accurate PLD forms the foundation for achieving automated inspections. However, recent top-performing power line detection methods tend to generate thick and…

Computational Comparison of Different Optimization Methods for Visual/Inertial Integrated Positioning Open

Xiwei Bai, Yu Pang · 2025

The visual/inertial integrated positioning system (VINS) is highly expected for autonomous systems due to the complementariness between the visual and inertial measurement unit (IMU) measurements. In general, the VINS is achieved by combin…

Cycle Pixel Difference Network for Crisp Edge Detection Open

Changsong Liu, Wei Zhang, Yanyan Liu, Mingyang Li, Wenlin Li , et al. · 2024

Edge detection, as a fundamental task in computer vision, has garnered increasing attention. The advent of deep learning has significantly advanced this field. However, recent deep learning-based methods generally face two significant issu…

Hong Kong UrbanNav: An Open-Source Multisensory Dataset for Benchmarking Urban Navigation Algorithms Open

Li‐Ta Hsu, Feng Huang, Hoi‐Fung Ng, Guohao Zhang, Yihan Zhong , et al. · 2023

Accurate positioning in urban canyons remains a challenging problem. To facilitate the research and development of reliable and precise positioning methods using multiple sensors in urban canyons, we built a multisensory dataset, UrbanNav,…

3D Vision Aided GNSS Real-Time Kinematic Positioning for Autonomous Systems in Urban Canyons Open

Weisong Wen, Xiwei Bai, Li‐Ta Hsu · 2023

In this paper, a three-dimensional vision-aided method is proposed to improve global navigation satellite system (GNSS) real-time kinematic (RTK) positioning. To mitigate the impact of reflected non-line-of-sight (NLOS) reception, a sky-po…

Time-correlated Window Carrier-phase Aided GNSS Positioning Using Factor Graph Optimization for Urban Positioning Open

Xiwei Bai, Weisong Wen, Li‐Ta Hsu · 2021

This paper proposes an improved global navigation satellite system (GNSS) positioning method that explores the time correlation between consecutive epochs of the code and carrier phase measurements which significantly increases the robustn…

Factor graph optimization for GNSS/INS integration: A comparison with the extended Kalman filter Open

Weisong Wen, Tim Pfeifer, Xiwei Bai, Li‐Ta Hsu · 2021

Factor graph optimization (FGO) recently has attracted attention as an alternative to the extended Kalman filter (EKF) for GNSS-INS integration. This study evaluates both loosely and tightly coupled integrations of GNSS code pseudorange an…

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

Xiwei Bai, Weisong Wen, Li‐Ta Hsu · 2020

The visual-inertial integrated navigation system (VINS) has been extensively studied over the past decades to provide accurate and low-cost positioning solutions for autonomous systems. Satisfactory performance can be obtained in an ideal …

UrbanLoco: A Full Sensor Suite Dataset for Mapping and Localization in Urban Scenes Open

Weisong Wen, Yiyang Zhou, Guohao Zhang, Saman Fahandezh-Saadi, Xiwei Bai , et al. · 2020

Mapping and localization is a critical module of autonomous driving, and significant achievements have been reached in this field. Beyond Global Navigation Satellite System (GNSS), research in point cloud registration, visual feature match…

It is time for Factor Graph Optimization for GNSS/INS Integration: Comparison between FGO and EKF Open

Weisong Wen, Tim Pfeifer, Xiwei Bai, Li‐Ta Hsu · 2020

The recently proposed factor graph optimization (FGO) is adopted to integrate GNSS/INS attracted lots of attention and improved the performance over the existing EKF-based GNSS/INS integrations. However, a comprehensive comparison of those…

Comparison of Extended Kalman Filter and Factor Graph Optimization for GNSS/INS Integrated Navigation System Open

Weisong Wen, Tim Pfeifer, Xiwei Bai, Li‐Ta Hsu · 2020

The integration of the global navigation satellite system (GNSS) and inertial navigation systems (INS) is extensively studied in the past decades for vehicular navigations, such as unmanned aerial vehicles (UAV) and autonomous driving vehi…

Perception-aided Visual-Inertial Integrated Positioning in Dynamic Urban Areas Open

Xiwei Bai, Bo Zhang, Weisong Wen, Li‐Ta Hsu, Huiyun Li · 2020

Visual-inertial navigation systems (VINS) have been extensively studied in the past decades to provide positioning services for autonomous systems, such as autonomous driving vehicles (ADV) and unmanned aerial vehicles (UAV). Decent perfor…

GNSS/LiDAR Integration Aided by Self-Adaptive Gaussian Mixture Models in Urban Scenarios: An Approach Robust to Non-Gaussian Noise Open

Weisong Wen, Xiwei Bai, Li‐Ta Hsu, Tim Pfeifer · 2020

Accurate and globally referenced positioning is crucial to autonomous systems with navigation requirements, such as unmanned aerial vehicles (UAV) and autonomous driving vehicles (ADV). GNSS/LiDAR integration is a popular sensor pair that …

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

Xiwei Bai, Weisong Wen, Li‐Ta Hsu · 2020

Visual-inertial integrated navigation system (VINS) has been extensively studied over the past decades to provide accurate and low-cost positioning solutions for autonomous systems. Satisfactory performance can be obtained in an ideal scen…

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

Weisong Wen, Xiwei Bai, Guohao Zhang, Shengdong Chen, Feng Yuan , et al. · 2020

Achieving accurate and reliable positioning in dynamic urban scenarios using low-cost vehicular onboard sensors, such as the global navigation satellite systems (GNSS), camera, and inertial measurement unit (IMU), is still a challenging pr…

UrbanLoco: A Full Sensor Suite Dataset for Mapping and Localization in Urban Scenes Open

Weisong Wen, Yiyang Zhou, Guohao Zhang, Saman Fahandezh-Saadi, Xiwei Bai , et al. · 2019

Mapping and localization is a critical module of autonomous driving, and significant achievements have been reached in this field. Beyond Global Navigation Satellite System (GNSS), research in point cloud registration, visual feature match…

Tightly Coupled GNSS/INS Integration via Factor Graph and Aided by Fish-Eye Camera Open

Weisong Wen, Xiwei Bai, Yin Chiu Kan, Li‐Ta Hsu · 2019

GNSS/INS integrated solution has been extensively studied over the past decades. However, its performance relies heavily on environmental conditions and sensor costs. The GNSS positioning can obtain satisfactory performance in the open are…

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