Dr. Weisong Wen is an Assistant Professor at the Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University. He was also the associate director of Intelligent Positioning and Navigation Lab-IPNL which is led by Dr. Li-ta Hsu (He is also my Lifelong Mentor). Dr. Wen aims to build algorithm foundations for trustworthy navigation and control of autonomous systems. In particular, he aims to design pratical trustworthy and interactive autonomous systems (drones and intelligent vehicles) for the future society.

Dr. Wen received a BEng degree in Mechanical Engineering from Beijing Information Science and Technology University (BISTU), Beijing, China, in 2015, and a MEng degree in Mechanical Engineering from the China Agricultural University (CAU), in 2017. After that, he received a PhD degree in Mechanical Engineering from The Hong Kong Polytechnic University (PolyU) supervised by Dr. Li-ta Hsu, in 2020. He was also a visiting PhD student with the Faculty of Engineering, University of California, Berkeley (UC Berkeley) in 2018, supervised by Dr. Zhan and Prof. Tomizuka. For more details, please refer to my CV CV-Dr. Weisong Wen.

He has published more than 41 SCI papers and 40 conference papers in the field of GNSS (ION GNSS+) and navigation for Robotic systems (IEEE ICRA, IEEE ITSC, IPIN, MMT, ICUAS), such as unmanned aerial vehicles (UAV) and intelligent vehicles (IV). He won the Innovation Award from TechConnect 2021, the Best Presentation Award from the Institute of Navigation (ION) in 2020, and the First Prize in Hong Kong Section in Qianhai-Guangdong-Macao Youth Innovation and Entrepreneurship Competition in 2019 based on his research achievements in 3D LiDAR aided GNSS positioning for robotics navigation in urban canyons. The developed algorithms and technology method has been reported by top magazines such as Inside GNSS and has attracted industry recognition with remarkable knowledge transfer. He is also the Associate Editor of IEEE Transactions on Vehicular Technology.

Area of Specializations

Recent Interest: Multisnesory integrated positioning (GNSS, IMU, camera, LiDAR, UWB, etc.), Safety quantification of UAV control algorithm, UAV control, autonomous driving, 3D LiDAR aided GNSS NLOS correction, IMU based behaviour SLAM, Learning Aided GNSS bias correction, UAV urban positioing, connected autonomous vehicles (CAV).

• Trustworthy Navigation
  • LiDAR-aided GNSS positioning, perception aided GNSS positioning for UAV and autonomous driving in urban canyons
  • GNSS, GNSS-RTK, GNSS PPP-RTK, GNSS PPP for smart systems
  • LiDAR SLAM in challenging dynamic scenes
  • Trustworthy and safety-certifiable navigation
  • Learning aided urban GNSS positioning
  • Software and hardware co-design for efficient computation of autonomous systems
• Trustworthy Control
  • Safety certifiable learning aided model predictive control (MPC) for UAV/drones
  • Navigation and control joint optimization for trustworthy autonomous systems
  • Interactive and safety quantifible UAV system in complex scenes
• Trustworthy and Connected Autonomous Systems
  • C-V2X assisted autonomous driving vehicles (ADV)
  • Unmanned aerial vehicles (UAV) aided addictive manufacturing
  • Unmanned aerial vehicles (UAV) enabled window cleaning
  • UAV and UGV collaboration for trustworthy autonomy

Teaching

• AAE4203, Guidance and Navigation [Thur, 15:30-18:30pm, BC303], 2024/2025 Semester 1
• AAE3004, Dynamical System and Control. [Wed, 15:30-16:30pm, FJ303; Lab will be on Mon, 8:30-9:30am, Week3 and 8 only] (Semester End)
• AAE6102, Satellite Communication and Navigation (Invited Lecture)
• AAE1D02, Introduction to Space Exploration (Co-lecture) (Semester End)

Openings

We regularly have multiple openings for Postdoc/PhD/Mphil/RA/Internships (All-year-round) to work on research projects related to navigation, robotics and trustworthy autonomous systems in general. If you are a PolyU student (Undergraduate and MSc students seeking URIS or dissertation supervision) interested in working with me, feel free to drop me an email (together with your transcript and brief introduction) or walk in my office at room R820!

Postdoc/RA positions (Regular quotas): Navigation with multi-sensory integration, autonomous systems, unmanned aerial vehicles (UAV), semantic aided positioning, map update and qualification, hardware-software co-design for next generation navigation chips, urban GNSS positioning, GNSS RTK, PPP, PPP-RTK, multi-agent collaborative positioning. For those interested, please send us you CV, representative publications list and research statement/proposal. (We will reply you within one week if you are shortlisted for interview).

PhD/Mphil topics (Regular quotas): Safety-certifiable navigation, visual semantic aided positioning, urban GNSS positioning, GNSS RTK, PPP, PPP-RTK, collaborative positioning. For those interested, please send us your CV, representative publications list and research proposal. (We will reply you within one week if you are shortlisted for interview).

Latest News [Month/Day/Year]

2024 [Month/Year]

• [08/2024] It is great to share I was selected as the world’s top 2% most-cited scientists in 2024. This prestigious acknowledgment, compiled and announced annually by researchers at Stanford University, USA, is determined by citations, h-index, co-authorship-adjusted hm-index, citations to papers in various authorship positions, and a composite indicator. Congratulations to our academic staff for their unwavering dedication to achieving research excellence! This recognition highlights their significant contributions and influence within their respective fields of expertise.

• [09/2024] It is great to serve as the session chair of IEEE ITSC 2024 for the session “Unmanned Aerial Vehciles”, in Edmonton, Canada. Also, I host the workshop on “Intelligent Vehicle Meets Urban: Safe And Certifiable Navigation And Control for Intelligent Vehicles In Complex Urban Scenarios” in ITSC 2024. It is also great to meet Dave, Hongzhou, etc.!

• [08/2024] It is great to share that our ITF seed fund proposal, titled Safety-certified Multi-source Fusion Positioning for Autonomous Vehicles in Complex Scenarios, is granted by the Hong Kong ITC.

• [08/2024] It is great to share that I was invited to serve as the associate editor in IEEE Transactions on Vehicular Technology from Sept 2024 for one year.

• [08/2024] It is great to share that our paper, titled Factor Graph Optimization for GNSS/INS Integration: A Comparison with the Extended Kalman Filter, is received the most citations in the year 2023! This work will be recognized during Friday’s Awards Luncheon at the upcoming ION GNSS+ 2024 conference in Baltimore, MD.

• [07/2024] It is great to share that our paper, titled Factor Graph Optimization-based Smartphone IMU-only Indoor SLAM with Multi-hypothesis Turning Behavior Loop Closures, is accepted by the IEEE Transactions on Aerospace and Electronic Systems. Congratulations to Shiyu!

• [07/2024] A very short video edited by RTHK is available through the RTHK Youtube Channel.

• [07/2024] It is great to be invited to give talk at Wuhan University with fruitful discussion. Thank you very much for the invitation from Prof. Li Xingxing.

• [07/2024] It is great to be interviewed by the 头条日报 about the low altitude economy and our research on our UAV research, such as the UAV for window cleaning and aerial 3D printing.

• [06/2024] It is great to share that our paper, titled Integrity-constrained Factor Graph Optimization for GNSS Positioning in Urban Canyons, is accepted by the NAVIGATION. In this paper, we proposed an integrity constrained factor graph optimization for GNSS positioning in urban canyons. In particular, the fault detection and exclusion (FDE) module is combined in the state estimation problem using the switchable constraints before the protection level calculation. Congratulations to Xia Xiao on this great work!

• [06/2024] It is great to share that our project, titled LiDAR Aided GNSS Multipath/NLOS Modeling and Mitigation for Robotics Positioning in Urban Canyons, is funded by the Hong Kong RGC under the Early Career Scheme. Looking forward to the impact from this project! The details of this project can be found by LINK.

• [06/2024] It is great to share that our paper, titled Towards High-Definition Vector Map Construction Based on Multi-sensor Integration for Intelligent Vehicles: Systems and Error Quantification, is accepted by the IET Intelligent Transport Systems. Congratulations to Runzhi on this great work!

• [06/2024] It is great to be invited to give the seminar talk at Tsinghua University on the topic of 3D LiDAR Aided GNSS Positioning for Autonomous Systems in Urban Canyons. Thank you very much for the invitation from Dr. Lv from Tsinghua University. The details of the talk can be found by the Link.

• [06/2024] It is great to be interviewed by the Hong Kong RTHK on our research about UAV enabled window cleaning and UAV enabled aerial 3D printing technologies, together our latest view on the low altitude economy (LAE)!

• [06/2024] It is great to share that our paper, titled Tightly-coupled Visual/Inertial/Map Integration with Observability Analysis for Reliable Localization of Intelligent Vehicles, is accepted by the IEEE Transactions on Intelligent Vehicles. Congratulations to Zheng Xi on this great work!

• [06/2024] It is great to share that our paper, titled Towards Persistent Spatial Awareness: A Review of Pedestrian Dead Reckoning-Centric Indoor Positioning Techniques, is accepted by the IEEE Transactions on Instrumentation & Measurement. Congratulations to Shiyu on this great work!

• [05/2024] It is great to be interviewed by the Hong Kong TVB on our research about UAV enabled window cleaning and UAV enabled aerial 3D printing technologies. Looking forward to the impact of the listed topics!

• [04/2024] It is great to make a presentation sharing with Hohai University invited by Prof. Zhang Zhetao, titled “3D LiDAR aided GNSS Positioning in Urban Canyons for Autonomous Systems”.

• [04/2024] It is great to make a presentation sharing with Westwell. Thank you very much for the coordination and invitation from PolyU RIO.

• [04/2024] Congratulations to Yihan for the paper acceptance in IEEE Transactions on Instrumentation and Measurement titled 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.

• [04/2024] It is great to attend the PolyU FCE sharing where I was invited to make a short presentation to share the Smart Traffic Fund project.

• [04/2024] It is great to attend the 无锡江阴产学研交流 where I was invited to make a short presentation titled “具备安全保证的复杂环境下无人系统与应用” in Wuxi, Jiangsu. Thank you very much for the coordination and invitation from PolyU RIO.

• [02/2024] It is happy to share that our proposal titled “Sustainable Window Cleaning for PolyU Jockey Club Innovation Tower with Unmanned Aerial Vehicles (UAV): An Application of Autonomous Systems Enabled Carbon Reduction” is granted by PolyU Carbon Neutrality Funding Scheme 2023/24. This project aims to explore the potential of the UAV system for carbon neutrality aiming at high altitude building cleaning.

• [01/2024] It is great to share that our proposal titled “Development of an Assisted Navigation and Collision Avoidance System using AI and Location-based Service” is granted by Hong Kong Smart Traffic Fund. This project aims to develop a low-cost, high-precision co-location solution suitable for urban canyons. It includes developing an algorithm to solve satellite positioning offsets caused by building obstructions and reflections, as well as developing a collision avoidance warning application for issuance of early warning and enabling emergency interventions to reduce collision risks in blind areas of sight.

• [01/2024] It is great to run into the year 2024!

2023 [Month/Day/Year]

• [12/30/2023] It is happy to share that our proposal titled “Data-driven-assisted GNSS RTK/INS Navigation for Autonomous Systems in Urban Canyons” is granted by PolyU Research Centres. This project aims to explore the potential of the AI in improving the GNSS positioning in urban canyons, with collaboration with Dr. Li Jing from PolyU Department of Computing.

• [12/19/2023] It is great to attend the 美团机器人年会 where I was invited to make a short presentation titled “How Much We Can Trust on Your UAV?: Risk-aware Navigation and Control for UAV in Complex Urban Canyons” in Shenzhen, Nanshan.

• [12/11/2023] It is great to share that our paper of GLIO (Liu, X., Wen, W. and 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.) is available by the IEEE Transactions on Intelligent Vehicles by IEEE Link. The code is fully opensourced by Github repository!

• [12/04/2023] It is great to share that our seed fund proposal titled “Multi-robot Collaborative Operations in Lunar Areas for Regolith Processing” is granted by Research Center of Deep Space Exploration (RC-DSE). This is a collaboration with Dr. Lidong Yang from PolyU ISE.

• [11/28/2023] It is great to share that our proposal “Maximum Consensus Integration of GNSS and LiDAR for Urban Navigation” is granted by the Hong Kong UGC Germany/Hong Kong Joint Research Scheme. This project is the collaboration with Prof Claus Brenner at University of Hannover, Germany. Thank you very much for the contribution from Jiachen! Looking forward to working on this project!

• [11/28/2023] It is great to share that our paper (ECMD: An Event-Centric Multisensory Driving Dataset for SLAM”, by CHEN, PEIYU; Guan, Weipeng; HUANG, Feng; Zhong, Yihan; wen, weisong; Hsu, Li-Ta; Lu, Peng) is accepted by the IEEE Transactions on Intelligent Vehicles. Congratulations to Peiyu., etc. Nice collaboration with the team from Dr. Lu’s team from HKU.

• [11/23/2023] It is great to share that our paper (Dynamic Object-aware LiDAR Odometry Aided by Joint Weightings Estimation in Urban Areas”, by HUANG, Feng; wen, weisong; Zhang, Jiachen; Wang, Chaoqun; Hsu, Li-Ta) is accepted by the IEEE Transactions on Intelligent Vehicles. Congratulations to Darren., etc. Nice collaboration with the team from Prof. Chaoqun Wang from Shandong University.

• [11/22/2023] It is great to host the visit from GODO at PolyU. We have a very nice discussion on the R&D of the UAV system for the remote inspection. Looking forward to the future collaboration in unlocking the UAV related applications.

• [11/13/2023] It is great to visit the “阳江海上风力发电实验室” with quite a lot of new insights! Thanks for the organization from Prof. Ding Xiaoli and colleagues from PolyU RILS.

• [10/27/2023] It is great to give a talk at Huawei Hong Kong on the topic of Trustworthy Satellite Navigation in Highly Urbanized Areas. Thanks for the invitation from Yongliang and Liwei! Thanks for the input from Xikun, Xiaxiao, Xi and Penggao!

• [10/20/2023] It is great to share that I was in the list of the top 2% scientist which is selected by Stanford University.

• [09/27/2023] The Second Workshop in IEEE ITSC 2023 is successfully held in Spain with fruitful discussion! More details can be found in the Blog.

• [09/26/2023] It is great to share that our paper of the GLIO (Liu, X., Wen, W. and 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.) is accepted by the IEEE Transactions on Intelligent Vehicles. In this work, we proposed an Tightly-Coupled GNSS/LiDAR/IMU Integration for Continuous and Drift-free State Estimation of Intelligent Vehicles in Urban Areas. The code will also be open-sourced soon!

• [09/15/2023] It is great to host the visiting of Wu Jin Dr. Jiang, Xiangcheng Hu and Dr. Jianhao Jiao from HKUST at PolyU.

• [09/11/2023] It is great to join the 江苏产业技术交流会 invited by PolyU RIO. Lots of new insights from the forum.

• [09/02/2023] We are happy and feel very honoured to announce that we received an research fund from Tencent on topic of “the multi-sensory integrated positioning for ground vehicles”. We will working on the challenges of urban GNSS positioning and its integration with visual positioning.

• [09/01/2023] I am happy to share I start a new position as an Assistant Professor at the Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University.

• [07/22/2023] It is a great to host the visit of PhD student, Jeldrik Axmann, from Leibniz Universität Hannover.

• [07/22/2023] It is a great to host the visit of PhD student, KOBAYASHI Kaito, from Tokyo University of Marine Science and Technology, Japan.

• [07/22/2023] It is a great to host the visit of Dr. Chao-Chung Peng, from Department of Aeronautics and Astronautics, National Cheng Kung University.

• [07/22/2023] It is a great to host the visit of Dr. Guoquan Huang from University of Delaware (UD), the U.S.

• [07/14/2023] It is a great to share that 5 papers are accepted in IEEE ITSC 2023, 24-28 September 2023 Bilbao, Bizkaia, Spain. Congratulations to Darren (2 papers on V2X based mapping and navigation), Runzhi (vision and AI aided GNSS NLOS error correction), Peiwen (tightly-coupled positioning and model predictive control joint optimization for UAV system) and Zhengxi (Tightly-coupled line based visual localization within the prior map)!

• [06/07/2023] It is a great to share that our paper “Zhang, L., Wen, W*., Zhang, T., and Hsu, L.T., 2023. An Improved Inertial Preintegration Model in Factor Graph Optimization for High Accuracy Positioning of Intelligent Vehicles” has been accepted for publication as a REGULAR PAPER in the IEEE Transactions on Intelligent Vehicles. Congratulations to Dr. Zhang Liang!

• [05/21/2023] It is a great to share that our paper “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, 70(3).” is published in the NAVIGATION online finally! This is one of our best work in the past years!

• [04/27/2023] It is a great to share that our research proposal entitled “Unmanned Aerial Vehicle Aided High Accuracy Addictive Manufacturing for Carbon Fiber Reinforced Thermoplastic Composites Material” is successfully granted by the Research Institute for Advanced Manufacturing (RIAM). Thank you very much for the support from the RIAM and looking forward to the findings towards this proposal!

• [04/26/2023] It is a great to share that our paper entitled “Integration of Vehicle Dynamic Model and System Identification Model for Extending the Navigation Service Under Sensor Failures”, by Yan, Penggao; Wen, Weisong; Hsu, Li-Ta, has been accepted for publication as a REGULAR PAPER in the IEEE Transactions on Intelligent Vehicles. Congratulations to Penggao!

• [04/22/2023] It is a great to share that our work (Safety-aware LiDAR Localization with a Prior Point Cloud Map for Autonomous Driving) which is first-authored by Dr. Jiachen Zhang, is presented by Dr. Li-ta Hsu at Stanford univeristy! Feel free to check the full video.

• [04/21/2023] It is a great to join the Grand Opening Ceremony of ASTRI Technovation Centre (ATC) cum ASTRI University Collaboration Sharing. Thank you very much for your invitation from Dongzhe Su!

• [04/13/2023] It is a great to join the Official Launch of Smart Mobility Technology (C-V2X) Alliance cum Smart Mobility Forum organzied by ASTRI. Thank you very much for your invitation from Dongzhe Su!

• [04/13/2023] It is a great to join the Digital Economy Summit (DES) 2023. Looking forward to make contribution to the Hong Kong smart city.

• [04/12/2023] It is a great to share that we are interviewed by the 信报 in Hong Kong. The detail of the interview can be found by the Video here. In this interview, we share our views on the unmanned autonomous systems (UAS) and current bottleneck problem. We also share our progress in transfering our UAS technology to the industry. We argue that the Safety of UAS is of great importance for their massive production. Letting the user trust the UAS!

• [04/08/2023] It is a great to share that Special Issue “Global Navigation Satellite System for Unmanned Aerial Vehicle” has been set up. I would work as the Guest Editor. Thank you very much for the invitation from Dr. Guohao Zhang.

• [04/04/2023] It is a great to share that Kaito Kobayashi from the Tokyo University of Marine Science and Technology supervised by Prof. Nobuaki Kubo joined us as a visiting PhD student. He will work with us in the coming 3 months on the topic of GNSS and machine learning!

• [04/03/2023] It is a great to share that I was selected as the editorial board member of the Journal of Data Science and Intelligent Systems. Looking forward to making contributions to the Journal of Data Science and Intelligent Systems.

• [04/03/2023] It is a great to share that Hongming Shen secured the PolyU postdoc matching fund from 3 Jul 2024 to 2 Jul 2025. Hongming will work with us in the coming 2 years!

• [04/03/2023] It is a great to share that two of our papers(Smartphone Level Indoor/Outdoor Ubiquitous Pedestrian Positioning based on GNSS/VINS Integration Using Factor Graph Optimization and Multi-robot Collaborative LiDAR SLAM for Efficient Mapping in Urban Scenes) are accepted to the MMT 2023 in Padua (Italy), on May 24-26, 2023. Congratulations to Nikkie!

• [03/26/2023] It is a great to join the 南科大首届新工科教育论坛 where we present our work in the Github based teaching pedagogy, titled “GitHub as a Supplementary Educational Tool to Improve Online Collaboration & Communication, Problem-solving, and Learning-to-learn Attributes: Methods and Preliminary Results at PolyU”. Thank you very much for the invitation from SUSTECH and the support from AAE!

• [03/24/2023] It is a great to share that our paper (3D LiDAR aided GNSS Positioning in Urban Canyons) is accepted to the PolyU Research Student Conference (PRSC) 2023 at PolyU, 8-9 May 2023. Congratulations to Xikun! Xikun will present his work on the 3D LiDAR aided GNSS positioning in urban canyons.

• [03/23/2023] It is a great to share that our paper (Cost-effective Camera Localization Aided by Prior Point Clouds Maps for Level 3 Autonomous Driving Vehicles) is accepted to the MMT 2023 in Padua (Italy), on May 24-26, 2023. Congratulations to Nikkie!

• [03/23/2023] It is a great to share that our workshop proposal is accepted at the IEEE ITSC 2023, which is going to be hed during 24-28 September 2023 Bilbao, Bizkaia, Spain. Looking forward to make contributions to the IEEE ITSC 2023! More information about our workshop can be find by workshop web.

• [03/16/2023] It is a great pleasure to be selected as the Associate Editor of the IEEE ITSC 2023, which is going to be hed during 24-28 September 2023 Bilbao, Bizkaia, Spain. Looking forward to make contributions to the IEEE ITSC 2023!

• [03/15/2023] We are glad to invite Prof. Nobuaki Kubo to give a talk titled “GNSS for Highly Reliable Applications”. Prof. Nobuaki Kubo is a Professor at the Tokyo University of Marine Science and Technology in the area of GPS/GNSS systems. Prof. Kubo has enjoyed a career in GNSS for over 20 years. The details of the seminar talk could be find by the AAE website.

• [03/09/2023] It is a great pleasure to host the visiting of the team from 广州软件技术研究院. We have a detailed disucssion on the research collaboration on the fields of the adaptive navigation by Dr. Guohao Zhang and safety reinforcement by Dr. Bing Xu. Looking forward to the future collaboration. Thank you very much for the assistant from Dongzhe, Darren and Jiachen!

• [03/04/2023] It is a great pleasure to give a talk at SJTU. Thank you very much for the invitation from Prof. Yafei Wang. Looking forward to future collaboration with Prof. Wang on the V2X and smart cities.

• [02/26/2023] I am going to give a talk at 智加科技 on 3rd Mar 2023 on the topic of the navigation for the autonomous driving ssytems. Thank you very much for the invitation from Dr. Wang Di. I am always keen to learn from idustry to seek the scientific problems!

• [02/26/2023] Our paper “Wen, W.*, Bai, X., and Hsu, L.T., 2022. 3D Vision Aided GNSS Real-time Kinematic Positioning for Autonomous Systems in Urban Canyons, NAVIGATION: Journal of the Institute of Navigation.” is accepted by the Navigation, Institute of Navigation. In this paper, the vision is adopted to assist the urban GNSS-RTK positioning with GNSS NLOS exclusion using a sky-pointing camera and geometry improvement using the virtual satellites. This is one of our best paper in the past years! Looking forward to the impact of this paper!

• [02/21/2023] it is great to have a nice disucssion with the team of Dr. Jiang Kun from Tsinghua University. Dr. Jiang introduce the work done by their team in the past years.

• [02/17/2023] it is great to have a nice detailed discussion with Dr. Yuan Feng from Institute of Software application technology, Guangzhou & Chinese Academy of Science. Lots of new scientific problems are identified during the insightful disucssion. Thank you very much for the hosting from Dr. Wu Hong and Miss. Zhu Yixuan. Looking forward to the coming project collaborations.

• [02/16/2023] it is great to have a nice disucssion with the Zhang Haoming from IRT, RWTH Aachen on navigation and factor graph optimization.

• [02/15/2023] it is great to have a nice disucssion with the research and development (R&D) team on navigation and map from Tecent.

• [02/14/2023] We are organizing a workshop with Dr. Dongyan Wei (魏东岩), Intelligent Perception, Navigation and Communication Lab, Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing. During the one-day workshop, the students present their work on the field of navigation for the ground vehicles and the aircrafts.

• [02/04/2023] I am glad to announce the news of the collaboration project with Meituan on topic “Vision Aided GNSS-RTK Positioning for UAV System in Urban Canyons”. Thank you very much for the promotion news from PolyU RIO Website, PolyU AAE Website.

• [02/04/2023] I am glad to be invited to give a talk on the “Research on 3D LiDAR Aided (3DLA) Urban GNSS Positioning for Robotics Navigation”. The venue is 香港科学园17W5楼510-519，香港物流机械人研究中心会议室 at 1:00pm - 2:00pm(GMT+8), 13 Feb 2023. Thank you very much for the invitation from Prof. Liu Yunhui and Prof. Chen Fei.

• [02/04/2023] We are glad to invite Prof. Tan Ping to give a talk on the “Towards Dense Visual SLAM with Deep Neural Networks”. Prof. Tan is a coming Professor at HKUST and is an expert in visual SLAM and Deep Learning. The venue is N001 at 16:00 - 17:00, 09 Feb 2023.

2022

• [12/28/2022] I was glad to be invited to be the Editorial Board Member of Information journal in the Artificial Intelligence Section. Looking forward to making contribution to the journal.

• [12/20/2022] Our paper for the UrbanNav dataset is accepted in NAVIGATION: Journal of the Institute of Navigation. Looking forward to the impact of the UrbanNav dataset!
  • Hsu, L.T., and Wen, W., etc, 2022. Hong Kong UrbanNav: An Open-Sourced Multisensory Dataset for Benchmarking Urban Navigation Algorithms, NAVIGATION: Journal of the Institute of Navigation. [Accepted]

• [12/16/2022] It is pretty cool to join the Symposium on innovative Robotics Technologies and Applications. The rundown can be found by Link. It is super glad to listen to the presentations (partial) from Prof. Mark Mueller, Prof. Masayoshi Tomizuka, Prof. Wei Hsin Liao, Prof. Qi Dou, Prof. Fei Chen, and Prof. Chun Chen. Thank you very much for the organization from Hong Kong Center for Logistics and Robotics.

• [12/15/2022] Welcome our new porject assistant Peiwen Yang! He is going to work as a project assistant in the coming 6 months on the unamnned autonomous systems!

• [12/13/2022] Invited by Prof. steffen schön. We visit the research team at Leibniz Universität Hannover during 4th Dec 2022 to 10th Dec 2022. Thank you very much for the invitation from Dr. Hsu and Dr. Zhang as well! I learned a lot from the visiting! More details can be found in Link.

• [11/30/2022] Three conference papers are accepted for the IEEE/ION PLANS 2023 Conference, taking place April 24-27, 2023, at the Hyatt Regency Monterey, in Monterey, California. Congratulations to Jiachen, Xiaxiao and Pengao！
  • Extending Navigation Service under Sensor Failures: An Approach by Integrating SystemIdentification and Vehicle Dynamic Model, Penggao Yan,Li-Ta Hsu,WeisongWen, Dept. of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University
  • Integrity-constrained Factor Graph Optimization for GNSS Positioning, Xiao Xia,WeisongWen,Li-Ta Hsu; Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University
  • LiDAR Feature OutlierMitigation Aided by Graduated Non-Convexity Relaxation for Safety-Critical Localization in Urban Canyons, Zhang Jiachen,WeisongWen,Li-Ta Hsu, Department of Aeronautical and Aviation Engineering, the Hong Kong Polytechnic University

• [11/30/2022] We invited Prof. Wen Li from Beihang University to give a talk to PolyU AAE on topic “Aerial-Aquatic Robots Capable of Crossing the Air-Water Boundary and Hitchhiking on Surfaces” at 16:00 - 17:00, 30 Nov 2022. Thank you very much for the excellent presentation from Prof. Wen. The post of the presentation can be found by link.

• [11/30/2022] We are happy to be invited to join the “美团机器人研究院启动暨学术研讨会” and share our insights about the UAV systems in complex scenarios.

• [11/25/2022] I start to be the regular reviewers for several journals, including IEEE Transactions on Intelligent Vehicles, Artificial Intelligence Journal!

• [11/24/2022] I am very happy to be a member of the Research Institute for Land and Space. Thank you very much for the recommendation from Dr. Hsu. Looking forward to making contributions to the institute!

• [11/21/2022] I am very happy to be a member of the Research Centre on Data Sciences & Artificial Intelligence. Today, I also give a presentation entitled “Unmanned Autonomous System (UAS) in Complex Areas: Positioning and System Development” with Dr. Hsu.

• [11/18/2022] We are happy and feel very honoured to announce that we received an Meituan Research Award for our proposal “Vision Aided GNSS-RTK Positioning for UAV System in Urban Canyons”. Wish we can introduce our navigation technologies to UAV systems!

• [11/13/2022] We give a talk to Harbin Engineering University in virtually. The title of the presentation is “3D LiDAR Aided High Accuracy GNSS Positioning in Urban Canyons”. Thank you very much for the invitation from Prof. Yulong Huang. More details about the presentation can be found in News.

• [11/04/2022] We have a very insightful online meeting with the navigation team from SAIC（中国上汽集团）on data collaboration. Looking forward to making impact to the autonomous driving industry using our navigation research! (AM, 04 Nov 2022 at PolyU).

• [11/03/2022] Welcome our new porject assistant Hüseyin Duran! He is going to work as a project assistant in the coming 6 months.

• [10/24/2022] Our paper titled “Integration of Vehicle Dynamic Model and System Identified Model for Navigation in Autonomous Mobile Robots” have been accepted for the ION ITM 2023 conference, taking place January 23-26, 2023 in Long Beach, California, U.S. Congratulations to PengGao!

• [10/29/2022] We demonstrate our autonomous driving technology to the students from a high school of Hong Kong. The detials can be found in news.

• [10/28/2022] The research team from Hong Kong ASTRI visit us and have a very insightful discussion on collaboration to make impact to Hong Kong. We wish to built collaboration in V2X to enable the intelligent vehicles in complex scenarios. The detials can be found in news.

• [10/08/2022] We are organizing a workshop session in IEEE ITSC 2022 with topic “Intelligent Vehicle Meets Urban: Safe And Certifiable Navigation And Control For Intelligent Vehicles In Complex Urban Scenarios” from at 09:00 - 12:00, 08 Oct 2022. More details can be found in our Workshop Website. We proundly invited the speakers including Prof. Guoquan Huang, Prof. Cheng-Zhong Xu, Dr. David M. Rosen, Prof Ming Liu, Prof. Markus Ryll and Dr. Li-Ta Hsu. The tencent meeting link is Tencent Meeting Link, Meeting ID is 265-418-897. See details at News.

• [10/14/2022] We invited Dr. Hendrik Kolvenbach from autonomous system lab of ETHZ to give a talk to PolyU AAE on topic “Quadrupedal Robots for Planetary Exploration” at 15:00 - 16:00, 14 Oct 2022. The ZOOM link can be found here.

• [09/27/2022] We invited Wei Xijia from UCL to give a talk to PolyU AAE on topic “From Single Modality to Modality Fusion, The First Step Towards Robust Multisensory Based Localisation Powered by AI” at 4:00 pm – 5:00 pm of 27 Sep 2022 (Tue). ZOOM information (Meeting ID: 976 5053 2247 Passcode: 491169). Big thanks to Xijia
• [09/03/2022] We are invited to give a tutorial in IPIN 2022 with topic “Simultaneous Localization and Mapping (SLAM) Technologies for Indoor Positioning: Development and Challenges”.
• [08/23/2022] 23th Aug 2022, 1 paper get accepted in IET Intelligent Transportation Systems below:
  • Zhong, Y., Huang, F., Zhang, J., Wen, W. * and Hsu, L.T., 2021. Low-cost Solid-state LiDAR/Inertial Based Localization with Prior Map for Autonomous Systems in Urban Scenarios. IET Intelligent Transport Systems.
• [08/01/2022] Aug 2022, 1 paper on LiDAR SLAM get accepted in NAVIGATION: Journal of the Institute of Navigation
  • Wen, W., & Hsu, L. T. (2022). AGPC-SLAM: Absolute Ground Plane Constrained 3D Lidar SLAM. NAVIGATION: Journal of the Institute of Navigation, 69(3).
• [06/08/2022] Jun 2022, 2 conference papers are accepted in IEEE ITSC 2022 including:
  • Huang, F., Wen, W*., Ng, H., Hsu, L.T. (2022, October). LiDAR Aided Cycle Slip Detection for GNSS Real-Time Kinematic Positioning in Urban Environments, IEEE ITSC 2022. In 2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC). IEEE. [Accepted]
  • Bai, X., Wen, W., Zhang, G., Ng, H., Hsu, L.T*. (2022, October). GNSS Outliers Mitigation in Urban Areas Using Sparse Estimation Based on Factor Graph Optimization, IEEE ITSC 2022. In 2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC). IEEE. [Accepted]

• [06/30/2022] We invited Dr. Shreyas Kousik to give a talk to PolyU AAE on topic “The Right Stuff: Representing Safety for Widespread Autonomy” at 30 Jun 2022. Many thanks to Shreyas.

• [04/23/2022] 23th April 2022, 1 paper get accepted in IEEE Transactions on Intelligent Transportation Systems.
  • Wen, W., & Hsu, L. T. (2022). 3D LiDAR aided GNSS NLOS mitigation in urban canyons. IEEE Transactions on Intelligent Transportation Systems.
• [04/08/2022] April 2022, 3 papers accepted in ION GNSS+ 2022!
  • Wen, W. and Hsu, L.T., 2022, September. Factor Graph Optimization for Tightly-coupled GNSS Pseudorange/Doppler/Carrier phase/INS Integration: Performance In Urban Canyons of Hong Kong. In Proceedings of the 35th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2022). [Accepted]
  • Zhong, Y., Wen, W*., Ng, H., Bai, X., and Hsu, L.T. 2022, September. Real-time Factor Graph Optimization Aided by Graduated Non-convexity Based Outlier Mitigation for Smartphone Decimeter Challenge. In Proceedings of the 35th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2022). [Accepted]
  • Liu, X., Wen, W*., and Hsu, L.T. 2022, September. 3D LiDAR Aided GNSS Real-time Kinematic Positioning via Coarse-to-fine Batch Optimization for High Accuracy Mapping in Dense Urban Canyons. In Proceedings of the 35th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2022). [Accepted]

2021

• [12/10/2021] We invited Dr. David Rosen to give a talk to PolyU AAE on topic “Certifiably Correct Machine Perception” at 10 Dec 2021. Many thanks to David.
• [13/04/2021] 13th, April 2021, 5 papers accepted in ION GNSS+ 2021!
  • Weisong Wen and Li-Ta Hsu, 3D LiDAR Aided GNSS Real-time Kinematic Positioning, ION GNSS+ 2021, St. Louis, Missouri, USA.
  • Weisong Wen and Li-Ta Hsu, Integrity Monitoring for GNSS Positioning Via Factor Graph Optimization In Urban Canyons, ION GNSS+ 2021, St. Louis, Missouri, USA.
  • Jiachen Zhang, Weisong Wen, Feng Huang and Li-Ta Hsu, Continuous GNSS-RTK Positioning Aided by LiDAR/Inertial Odometry with Intelligent GNSS Selection in Urban Canyons, ION GNSS+ 2021, St. Louis, Missouri, USA.
  • Feng Huang, Donghui Shen, Weisong Wen, Jiachen Zhang, and Li-Ta Hsu, Improving LIDAR-Based SLAM with Dynamic Object Removal in Dense Urban Areas, ION GNSS+ 2021, St. Louis, Missouri, USA.
  • Hoi-fung Ng, Guohao Zhang, Weisong Wen, and Li-Ta Hsu, 3D Mapping Aided GNSS Using Factor Graph Optimization: An example on GNSS shadow matching, ION GNSS+ 2021, St. Louis, Missouri, USA.

• [04/12/2022] On 12th, April 2021, I am working as a Research Assistant Professor at Hong Kong Polytechnic University!

• [03/24/2022] 24th, March 2021, 1 paper was accepted in ICRA 2021!

  • Weisong Wen, and Li-Ta Hsu, Wen, W., & Hsu, L. T. (2021, May). Towards robust GNSS positioning and Real-time kinematic using factor graph optimization. In 2021 IEEE International Conference on Robotics and Automation (ICRA) (pp. 5884-5890). IEEE. (Code), (Paper)
• [01/04/2022] 4th, Jan 2021, I am working as a Senior Research Fellow at Hong Kong Polytechnic University!

2020

• [10/27/2020] Oct 27, 2020, I finish the Ph.D. thesis defense! The board of examiners includes Prof. Kubo, Prof. Huiyun Li, and Prof. Choy. Thanks to all the people who help me!

2019

• [10/13/2019] Oct 13, 2019, Tim Pfeifer join our lab as a visiting student researcher.

2018

• [11/09/2018] Nov 9, 2018, Take part in the 2018 Bay Area Robotics Symposium at Standford University aims to bring together roboticists from the Bay Area. The program will consist of a mix of faculty, student, and industry presentations.

-[11/09/2018] Nov 9, 2018, Give a talk in Deepmap.ai with Mark Wheeler and Lionel Garin The topic is “Localization for Autonomous Vehicles in Dense Urban”. Mark Wheeler is previously work in Google Maps for about 8 years. Lionel Garin is a GNSS WORLDWIDE RECOGNIZED EXPER.

• [12/02/2018] Dec 2, 2018, Give a presentation on the 8th East Asia Mechanical Aerospace Engineering Workshop with Dr. Peng and Ankit Ravankar. The topic is “Multi-sensor Integration-based Localization for Autonomous Vehicle in Urbanized Area”.

• [12/07/2018] Dec 7, 2018, Give a talk at the Shenzhen Institutes of Advanced Technology Chinese Academic of Sciences with Prof.Huiyun Li. The topic is “Multi-sensor Integration-based Localization for Autonomous Vehicle in Urbanized Area”.

• [08/28/2018] Aug 28, 2018, Have a Remote talk with the team in Tencent. The topic is multi-sensor fusion for autonomous driving.

• [08/27/2018] Aug 27, 2018, Have a Remote talk with the team at Nagoya University with Yuki Kitsukawa. He is the CEO of Map IV. The topic is mapping and localization for autonomous driving.

• [08/17/2018] Aug 17, 2018, visit the autonomous driving team in Jingchi in the U.S.

• [08/16/2018] Aug 16, 2018, I give a talk in Baidu. inc in the USA. The topic is GNSS positioning aided by LiDAR and building models.

• [07/18/2018] On Jul 18, 2018, I visit the MSC Lab at the University of California, Berkeley. Do research on multi-sensor fusion aided by perception.