Publications

Dr. Wen aims to build algorithm foundations for trustworthy navigation and control of autonomous systems. In particular, he aims to design practical trustworthy and interactive autonomous systems (drones, intelligent vehicles, and humanoid robots) for the future society.

For the most updated and complete publication list, please visit Google Scholar.

Journal Publications (Total: 62)

2025

1. Zhang, Y., Wang, Y., Yan, P., Wen, W. (2025). Learning Safe, Optimal, Real-Time Flight Interaction with Deep Confidence-enhanced Reachability Guarantee. IEEE Transactions on Intelligent Transportation Systems. (IF: 8.4, JCR Q1)
2. Yang, R., Wen, W., Yang, P., Zhao, Z. and Huang, F. (2025). Unified Sufficient Conditions for Exact Convex Relaxation of Nonconvex Optimal Control Problems. IEEE Transactions on Aerospace and Electronic Systems. (IF: 5.7, JCR Q1)
3. 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. (IF: 7.1, JCR Q1)
4. 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. (IF: 8.4, JCR Q1)
5. Liu, X., Wen, W., Zhang, L., Hsu, L.T. (2025). 3D LiDAR Aided GNSS NLOS Correction by Direction-of-Arrival Estimation Using Doppler Measurements in Urban Canyons. *IEEE Transactions on Intelligent Transportation Systems. (IF: 8.4, JCR Q1)
6. Zhang, Z., Wang, J., Xia, M., Shi, C., Wen, W., Zhang, D. (2025). Self-Attention-Enhanced PSW-LSTM for 3D Indoor Pedestrian Positioning with Integrated WiFi, Magnetometer and Barometer Sensors. *IEEE Transactions on Instrumentation and Measurement. (IF: 5.9, JCR Q1)
7. Huang, F., Wen, W., Zhang, G., Su, D., Huang, Y. (2025). Continuous Error Map Aided Adaptive Multi-Sensor Integration for Connected Autonomous Vehicles in Urban Scenarios. *IEEE Transactions on Instrumentation and Measurement. (IF: 5.9, JCR Q1)
8. Yang, P., Wen, W., Bai, S., Hu, J. (2025). Online Dynamic Model Calibration for Reliable Control of Quadrotor Based on Factor Graph Optimization. *IEEE Transactions on Aerospace and Electronic Systems. (IF: 5.7, JCR Q1)
9. Yan, P., Li, Z., Huang, F., Wen, W., Hsu, L.T. (2025). Fault Detection Algorithm for Gaussian Mixture Noises: An Application in Lidar/IMU Integrated Localization Systems. NAVIGATION: Journal of the Institute of Navigation, 72(1). (IF: 3.1, JCR Q1)
10. Meng, Q., Su, C., Jiang, Y., Wen, W., Meng, X. (2025). Multi-Sensor Plug-and-Play Navigation Based on Resilient Information Filter. IEEE Sensors Journal. (IF: 4.5, JCR Q1)
11. Du, S., Huang, Y., Wen, W., Zhang, Y. (2025). A Novel Lie Group-based Reliable IMM Estimation Method for SINS/GNSS/OD/NHC Integrated Navigation in Complex Environments. IEEE Internet of Things Journal. (IF: 8.9, JCR Q1)
12. 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. (IF: 9.2, JCR Q1)
13. Hu, R., Xu, P., Zhong, Y., Wen, W. (2025). pyrtklib: An Open-source Package for Tightly Coupled Deep Learning and GNSS Integration for Positioning in Urban Canyons. IEEE Transactions on Intelligent Transportation Systems. (IF: 8.4, JCR Q1)
14. Wang, J., Xia, M., Zhang, D., Wen, W., Chen, W., Shi, C. (2025). Urban GNSS Positioning for Consumer Electronics: 3D Mapping and Advanced Signal Processing. IEEE Transactions on Consumer Electronics. (IF: 10.9, JCR Q1)

2024

1. Bai, S., Wen, W., Shi, C. (2024). 3DIO: Low-Drift 3D Deep-Inertial Odometry for Indoor Localization Using an IMU. *IEEE Internet of Things Journal. (IF: 8.9, JCR Q1)
2. 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.
3. 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. (IF: 5.9, JCR Q1)
4. 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. (IF: 14.3, JCR Q1)
5. Du, S., Huang, Y., Wen, W., Zhang, Y. (2024). A Novel Consistent-Robust SINS/GNSS/NHC Integrated Navigation Method for Autonomous Vehicles Under Intermittent GNSS Outage. *IEEE Transactions on Intelligent Vehicles. (IF: 14.3, JCR Q1)
6. Xia, X., Wen, W., Hsu, L.T.* (2024). Integrity-Constrained Factor Graph Optimization for GNSS Positioning in Urban Canyons. NAVIGATION: Journal of the Institute of Navigation. (IF: 3.1, JCR Q1)
7. Yan, P., Xia, X., Brizzi, M., Wen, W., Hsu, L.T.* (2024). Subspace-based Adaptive GMM Error Modeling for Fault-Aware Pseudorange-based Positioning in Urban Canyons. IEEE Transactions on Intelligent Vehicles. (IF: 14.3, JCR Q1)
8. 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, 18(8), 1477-1493. (IF: 2.3, JCR Q2)
9. 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. (IF: 5.7, JCR Q1)
10. 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. (IF: 14.3, JCR Q1)
11. Xu, R., Chen, S., Bai, S., Wen, W. (2024). Nonlinearity-aware ZUPT-aided Pedestrian Inertial Navigation based on Cubature Kalman Filter in Urban Canyons. IEEE Transactions on Instrumentation and Measurement. (IF: 5.9, JCR Q1)
12. Xia, M., Wang, J., Shi, C., Wen, W. (2024). Indoor Altitude Estimation Assisted by Inertial Compensation and Online Floor Modeling. Measurement Science and Technology, 35(12), 126302. (IF: 3.4, JCR Q1)
13. Zhu, J., Zhuo, G., Xia, X., Wen, W., Xiong, L., Leng, B., Liu, W. (2024). FGO-MFI: Factor Graph Optimization-based Multi-sensor Fusion and Integration for Reliable Localization. *Measurement Science and Technology, 35(8), 086303. (IF: 3.4, JCR Q1)
14. 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. (IF: 8.9, JCR Q1)
15. 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, 73, 1-12. (IF: 5.9, JCR Q1)

2023

1. 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. (IF: 3.1, JCR Q1) (Paper)
2. 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, 70(4). (IF: 3.1, JCR Q1) (Citations: 61)
3. 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. (IF: 14.3, JCR Q1) (Code)
4. 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. (IF: 14.3, JCR Q1)
5. 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. (IF: 14.3, JCR Q1)
6. 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. (IF: 14.3, JCR Q1)
7. Zhang, L., Wen, W., Zhang, T., Hsu, L.T. (2023). An Improved Inertial Preintegration Model in Factor Graph Optimization for High Accuracy Positioning of Intelligent Vehicles. *IEEE Transactions on Intelligent Vehicles. (IF: 14.3, JCR Q1)
8. Ye, J., Li, C., Wen, W., Zhou, R., Reppa, V. (2023). Deep Learning in Autonomous Surface Ships: Current Development and Challenges. Journal of Marine Science and Application. (IF: 2.1, JCR Q2)

2022

1. Zhong, Y., Huang, F., Zhang, J., Wen, W., Hsu, L.T. (2022). Low-cost Solid-state LiDAR/Inertial Based Localization with Prior Map for Autonomous Systems in Urban Scenarios. *IET Intelligent Transport Systems. (IF: 2.3, JCR Q2)
2. Wen, W., Hsu, L.T. (2022). 3D LiDAR Aided GNSS NLOS Mitigation in Urban Canyons. IEEE Transactions on Intelligent Transportation Systems. (IF: 8.4, JCR Q1) (Citations: 93) (Paper, Video)
3. Wen, W., Hsu, L.T. (2022). AGPC-SLAM: Absolute Ground Plane Constrained 3D Lidar SLAM. NAVIGATION: Journal of the Institute of Navigation, 69(3). (IF: 3.1, JCR Q1) (Paper, Video)
4. Li, X., Li, S., Zhou, Y., Shen, Z., Wang, X., Li, X., Wen, W. (2022). Continuous and Precise Positioning in Urban Environments by Tightly Coupled Integration of GNSS, INS and Vision. IEEE Robotics and Automation Letters, 7(4), 11458-11465. (IF: 5.3, JCR Q1) (Paper)
5. Bai, X., Wen, W., Hsu, L.T. (2022). Time-correlated Window Carrier-phase Aided GNSS Positioning in Urban Canyons. *IEEE Transactions on Aerospace and Electronic Systems. (IF: 5.7, JCR Q1) (Citations: 60)
6. Huang, F., Wen, W., Zhang, J., Hsu, L.T. (2022). Point-wise or Feature-wise? Benchmark Comparison of Public Available LiDAR Odometry Algorithms in Urban Canyons. IEEE Intelligent Transportation Systems Magazine. (IF: 5.0, JCR Q1) (Paper)
7. 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, 12(10), 5193. (IF: 2.5, JCR Q1) (Paper)

2021

1. Wen, W., Zhang, G., Hsu, L.T. (2021). GNSS Outlier Mitigation via Graduated Non-convexity Factor Graph Optimization. IEEE Transactions on Vehicular Technology, 71(1), 297-310. (IF: 7.1, JCR Q1) (Citations: 56)
2. 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. (IF: 3.1, JCR Q1) (Citations: 256) (Paper, Video)
3. Zhang, J., Wen, W., Huang, F., Chen, X., Hsu, L.T. (2021). Coarse-to-Fine Loosely-Coupled LiDAR-Inertial Odometry for Urban Positioning and Mapping. *Remote Sensing, 13(12), 2371. (IF: 4.2, JCR Q1) (Paper)
4. 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, 70(5), 4098-4112. (IF: 7.1, JCR Q1)
5. 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, 70, 1-15. (IF: 5.9, JCR Q1)

2020

1. 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, 69(5), 4979-4991. (IF: 7.1, JCR Q1) (Citations: 58)
2. Zhang, G., Ng, H.F., Wen, W., Hsu, L.T. (2020). 3D Mapping Database Aided GNSS Based Collaborative Positioning Using Factor Graph Optimization. IEEE Transactions on Intelligent Transportation Systems. (IF: 8.4, JCR Q1) (Citations: 80)
3. 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, 12(3), 53-69. (IF: 5.0, JCR Q1)
4. 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, 8, 124323-124338. (Paper)
5. Bai, X., Wen, W., Hsu, L.T. (2020). Using Sky-pointing Fish-eye Camera and LiDAR to Aid GNSS Single-point Positioning in Urban Canyons. *IET Intelligent Transport Systems, 14(8), 908-914. (IF: 2.3, JCR Q2) (Citations: 54)
6. 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, 12(10), 1686. (IF: 4.2, JCR Q1) (Paper)

2019

1. Wen, W., Zhang, G., Hsu, L.T. (2019). GNSS NLOS Exclusion Based on Dynamic Object Detection Using LiDAR Point Cloud. IEEE Transactions on Intelligent Transportation Systems. (IF: 8.4, JCR Q1) (Citations: 107)
2. Wen, W., Zhang, G., Hsu, L.T. (2020). Correcting NLOS by 3D LiDAR and Building Height to Improve GNSS Single Point Positioning. NAVIGATION: Journal of the Institute of Navigation, 66(4), 705-718. (IF: 3.1, JCR Q1) (Citations: 85)
3. 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, 68(11), 10651-10662. (IF: 7.1, JCR Q1) (Citations: 208) (Paper)
4. Zhang, G., Wen, W., Hsu, L.T. (2019). Rectification of GNSS-based Collaborative Positioning Using 3D Building Models in Urban Areas. GPS Solutions, 23(3), 83. (IF: 4.5, JCR Q1)
5. 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. Electronics Letters, 55(6), 348-349.

2018 & Earlier

1. Wen, W., Hsu, L.T. (2019). Perceived Environment Aided GNSS Single Point Positioning: An Example using LiDAR Scanner. Inside GNSS.
2. 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(11), 3928. (IF: 3.5, JCR Q2) (Citations: 90) (Paper)

Conference Publications (Total: 56)

2025

1. Song, B., Wen, W., Hsu, L.T. (2025). Certifiably Optimal Satellite Orbit Determination Based on Doppler Measurements for Low-Earth-Orbit Satellites. 2025 IEEE/ION PLANS.
2. Li, Z., Yan, P., Wen, W., Hsu, L.T. (2025). Paired Cauchy-Gaussian Overbound for Not Symmetric Unimodal Heavy-tailed Distributions. 2025 IEEE/ION PLANS, 214-225.
3. Song, B., Wen, W., Hsu, L.T. (2025). Tightly Coupled Low-cost GNSS-RTK/INS/Odometer Integration Via Factor Graph Optimization Aided by GNSS Outlier Mitigation in Urban Canyons. *European Navigation Conference 2024.
4. Zhong, Y., Ng, H.F., Hsu, L.T., Wen, W. (2025). GNSS/Map Integration with Batch Factor Graph Optimization for Reliable Trajectory Estimation in Urban Canyon. 2025 IEEE/ION PLANS, 1411-1416.
5. Xu, R., Liu, X., Wen, W. (2025). Tightly-Coupled Wi-Fi/LiDAR/Inertial Integration via Factor Graph Optimization for UAS. 2025 IEEE/ION PLANS, 648-653.

2024

1. Ng, H.F., Xu, P., Zhong, Y., Zhang, G., Wen, W., Hsu, L.T. (2024). DGNSS Corrected Pseudorange and TDCP Measurements using Differentiable Factor Graph Optimization (DFGO). ION GNSS+ 2024.
2. Li, Y., Liu, X., Wen, W., Hsu, L.T., Yuan, Y., Bian, G., Chen, Q. (2024). Factor Graph Optimization Based Multi Epoch Ambiguity Resolution for GNSS RTK and its Evaluation in Hong Kong Urban Canyons. ION GNSS+ 2024.
3. Bai, S., Wen, W., Yu, Y., Hsu, L.T. (2024). Invariant Extended Kalman Filtering for Pedestrian Deep-Inertial Odometry. *ISPRS Archives.
4. Xiao, N., Wen, W., Hu, J., Yang, P., Zhao, J., Wu, C., Bai, S. (2024). SUG-UAV Multirotor Dataset with Multi-sensor Integration in Indoor and Urban Areas. *IPIN 2024.
5. Zhang, Z., Xia, M., Wang, J., Wen, W., Shi, C., Shan, Y., Tian, X. (2024). 3D Indoor Localization via Universal Signal Fingerprinting Powered by LSTM. IPIN 2024.
6. Yang, P., Wen, W., Bai, S., Hsu, L.T. (2024). Tightly Joined Positioning and Control Model for Unmanned Aerial Vehicles Based on Factor Graph Optimization. arXiv:2404.14724.
7. Yang, W., Hu, H., Tse, K.W., Chen, S., Wen, W., Wen, C.Y. (2024). LiDAR Stereo Visual Inertial Pose Estimation Based on Feedforward and Feedbacks. ICUAS 2024, 1042-1049.
8. Chen, Z., Chen, H., Qi, Y., Zhong, S., Feng, D., Wu, J., Wen, W., Liu, M. (2024). RELEAD: Resilient Localization with Enhanced LiDAR Odometry in Adverse Environments. IEEE ICRA 2024, 3999-4005.
9. Zhong, S., Chen, H., Qi, Y., Feng, D., Chen, Z., Wu, J., Wen, W., Liu, M. (2024). ColRIO: LiDAR-Ranging-Inertial Centralized State Estimation for Robotic Swarms. IEEE ICRA 2024, 3920-3926.
10. Yan, P., Wen, W., Huang, F., Hsu, L.T. (2024). A Fault Detection Algorithm for LiDAR/IMU Integrated Localization Systems with Non-Gaussian Noises. ION ITM 2024.

2023

1. Liu, X., Wen, W., Hsu, L.T. (2023). 3D LiDAR Aided GNSS NLOS Correction with Direction of Arrival Estimation Using Doppler Measurements. ION GNSS+ 2023.
2. Zhang, H., Wen, W., Hsu, L.T. (2023). A New GNSS Ambiguity Resolution Method Through Mixed Integer Programming. ION GNSS+ 2023.
3. 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. ION GNSS+ 2023.
4. Xu, P., Ng, H.F., Zhong, Y., Zhang, G., Wen, W., Yang, B., Hsu, L.T. (2023). Differentiable Factor Graph Optimization with Intelligent Covariance Adaptation for Accurate Smartphone Positioning. ION GNSS+ 2023. (Citations: 10)
5. Zheng, X., Wen, W., Hsu, L.T. (2023). Tightly-coupled Line Feature-aided Visual Inertial Localization within Lightweight 3D Prior Map for Intelligent Vehicles. IEEE ITSC 2023.
6. Huang, F., Chen, H., Urtay, A., Su, D., Wen, W., Hsu, L.T. (2023). Roadside Infrastructure Assisted LiDAR/Inertial-based Mapping for Intelligent Vehicles in Urban Areas. IEEE ITSC 2023.
7. Huang, F., Wen, W., Zhang, G., Su, D., Hsu, L.T. (2023). Adaptive Multi-Sensor Integrated Navigation System Aided by Continuous Error Map from RSU for Autonomous Vehicles in Urban Areas. IEEE ITSC 2023.
8. Hu, R., Wen, W., Hsu, L.T. (2023). Fisheye Camera Aided GNSS NLOS Detection and Learning-Based Pseudorange Bias Correction for Intelligent Vehicles in Urban Canyons. IEEE ITSC 2023. (Citations: 8)
9. Yang, P., Wen, W. (2023). Tightly Joining Positioning and Control for Trustworthy Unmanned Aerial Vehicles Based on Factor Graph Optimization in Urban Transportation. IEEE ITSC 2023.
10. Bai, S., Wen, W., Hsu, L.T., Yu, Y. (2023). Factor Graph Optimization-based Indoor Pedestrian SLAM with Probabilistic Exact Activity Loop Closures Using Smartphone. IPIN 2023.
11. Sun, Y., Huang, F., Wen, W., Hsu, L.T., Liu, X. (2023). Multi-robot Cooperative LiDAR SLAM for Efficient Mapping in Urban Scenes. ISPRS MMT 2023.
12. Zhang, J., Wen, W., Hsu, L.T., Gong, Z., Su, Z. (2023). LiDAR Feature Outlier Mitigation Aided by Graduated Non-Convexity Relaxation for Safety-Critical Localization in Urban Canyons. IEEE/ION PLANS 2023, 660-664.
13. Xia, X., Hsu, L.T., Wen, W. (2023). Integrity-constrained Factor Graph Optimization for GNSS Positioning. IEEE/ION PLANS 2023, 414-420.
14. Yan, P., Hsu, L.T., Wen, W. (2023). Extending Navigation Service under Sensor Failures: An Approach by Integrating System Identification and Vehicle Dynamic Model. IEEE/ION PLANS 2023, 630-636.
15. Yan, P., Hsu, L.T., Wen, W. (2023). Integration of Vehicle Dynamic Model and System Identified Model for Navigation in Autonomous Mobile Robots. ION ITM 2023.

2022

1. Liu, X., Wen, W., Huang, F., Gao, H., Wang, Y., Hsu, L.T. (2022). 3D LiDAR Aided GNSS NLOS Mitigation for Reliable GNSS-RTK Positioning in Urban Canyons. arXiv:2212.05477.
2. Bai, X., Wen, W., Zhang, G., Ng, H.F., Hsu, L.T. (2022). GNSS Outlier Mitigation in Urban Areas Using Sparse Estimation Based on Factor Graph Optimization. IEEE ITSC 2022. (Citations: 10)
3. Huang, F., Wen, W., Ng, H.F., Hsu, L.T. (2022). LiDAR Aided Cycle Slip Detection for GNSS Real-Time Kinematic Positioning in Urban Environments. IEEE ITSC 2022.
4. Liu, X., Wen, W., Hsu, L.T. (2022). 3D LiDAR Aided GNSS Real-time Kinematic Positioning via Coarse-to-fine Batch Optimization for High Accuracy Mapping in Dense Urban Canyons. ION GNSS+ 2022.
5. Wen, W., Hsu, L.T. (2022). Factor Graph Optimization for Tightly-coupled GNSS Pseudorange/Doppler/Carrier Phase/INS Integration: Performance in Urban Canyons of Hong Kong. ION GNSS+ 2022.
6. Zhong, Y., Wen, W., Ng, H.F., Bai, X., Hsu, L.T. (2022). Real-time Factor Graph Optimization Aided by Graduated Non-convexity Based Outlier Mitigation for Smartphone Decimeter Challenge. ION GNSS+ 2022. (Citations: 11)

2021

1. Zhang, J., Wen, W., Huang, F., Chen, X., Hsu, L.T. (2021). Continuous GNSS-RTK Aided by LiDAR/Inertial Odometry with Intelligent GNSS Selection in Urban Canyons. ION GNSS+ 2021.
2. Ng, H.F., Zhang, G., Wen, W., Hsu, L.T. (2021). 3D Mapping Aided GNSS Using Gauss-Newton Algorithm: An Example on GNSS Shadow Matching. ION GNSS+ 2021.
3. Wen, W., Hsu, L.T. (2021). 3D LiDAR Aided GNSS Real-time Kinematic Positioning. ION GNSS+ 2021, 2212-2220. (Paper, Video)
4. Huang, F., Shen, D., Wen, W., Zhang, J., Hsu, L.T. (2021). A Coarse-to-fine LiDAR-based SLAM with Dynamic Object Removal in Dense Urban Areas. ION GNSS+ 2021.
5. Wen, W., Meng, Q., Hsu, L.T. (2021). Integrity Monitoring for GNSS Positioning Via Factor Graph Optimization in Urban Canyons. ION GNSS+ 2021, 1508-1515. (Paper, Video)
6. Hsu, L.T., Kubo, N., Wen, W., Chen, W., Liu, Z., Suzuki, T., Meguro, J. (2021). UrbanNav: An Open-sourced Multisensory Dataset for Benchmarking Positioning Algorithms Designed for Urban Areas. ION GNSS+ 2021. (Citations: 133)
7. Wen, W., Hsu, L.T. (2021). Towards Robust GNSS Positioning and Real-time Kinematic Using Factor Graph Optimization. IEEE ICRA 2021, 5884-5890. (Citations: 119) (Paper, Video, Code)

2020

1. Wen, W. (2020). 3D LiDAR Aided GNSS and its Tightly Coupled Integration with INS via Factor Graph Optimization. ION GNSS+ 2020, 1649-1672. (Paper, Video)
2. Wen, W., Bai, X., Hsu, L.T., Pfeifer, T. (2020). GNSS/LiDAR Integration Aided by Self-adaptive Gaussian Mixture Models in Urban Scenarios: An Approach Robust to Non-Gaussian Noise. IEEE/ION PLANS 2020, 647-654.
3. Hsu, L.T., Wen, W. (2020). New Integrated Navigation Scheme for the Level 4 Autonomous Vehicles in Dense Urban Areas. IEEE/ION PLANS 2020, 297-305.
4. Bai, X., Zhang, B., Wen, W., Hsu, L.T., Li, H. (2020). Perception-aided Visual-inertial Integrated Positioning in Dynamic Urban Areas. IEEE/ION PLANS 2020, 1563-1571.
5. Wen, W., Zhou, Y., Zhang, G., Fahandezh-Saadi, S., Bai, X., Zhan, W., Tomizuka, M., Hsu, L.T. (2020). UrbanLoco: A Full Sensor Suite Dataset for Mapping and Localization in Urban Scenes. IEEE ICRA 2020, 2310-2316. (Citations: 171) (Paper, Video, Code)

2019

1. Wen, W., Kan, Y.C., Hsu, L.T. (2019). Performance Comparison of GNSS/INS Integrations based on EKF and Factor Graph Optimization. ION GNSS+ 2019, 3019-3032. (Citations: 55)
2. Bai, X., Wen, W., Zhang, G., Hsu, L.T. (2019). Real-time GNSS NLOS Detection and Correction Aided by Sky-Pointing Camera and 3D LiDAR. ION Pacific PNT 2019.
3. Wen, W., Zhan, W., Hsu, L.T. (2019). Robust Localization Using 3D NDT Matching and Beam Model for Autonomous Vehicles in an Urban Scenario with Dynamic Obstacles. MMT 2019.
4. Bai, X., Wen, W., Hsu, L.T. (2019). Performance Analysis of Visual/Inertial Integrated Positioning in Typical Urban Scenarios of Hong Kong. APCATS 2019.

2018

1. Zhang, G., Wen, W., Hsu, L.T. (2018). A Novel GNSS based V2V Cooperative Localization to Exclude Multipath Effect Using Consistency Checks. IEEE/ION PLANS 2018, 1465-1472. (Citations: 36)
2. Wen, W., Zhang, G., Hsu, L.T. (2018). 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. IEEE/ION PLANS 2018, 158-165. (Citations: 47) (Paper)
3. Wen, W., Zhang, G., Hsu, L.T. (2018). Correcting GNSS NLOS by 3D LiDAR and Building Height. ION GNSS+ 2018, 3156-3168. (Citations: 31) (Paper)
4. Zhang, G., Wen, W., Hsu, L.T. (2018). Collaborative GNSS Positioning with the Aids of 3D City Models. ION GNSS+ 2018.

Patents (Total: 12)

1. Hsu, L.T., Wen, W. (2024). 3D LiDAR Aided Global Navigation Satellite System and the Method for Non-Line-of-Sight Detection and Correction. US Patent 12,123,961. Granted Oct 22, 2024.
2. Yang, P., Wen, W. (2025). A System and Method for Motion Control of Unmanned Aerial Vehicles. US Patent Application 19/185,610. Filed Apr 22, 2025.
3. Yang, P., Wen, W. (2025). A System and Method for Motion Control of Unmanned Aerial Vehicles. HK Patent Application 32025106311.3. Filed Apr 22, 2025.
4. Wen, W., Hu, J., Xiao, N., Chen, Y. (2025). Safety-assured AI Driven Unmanned Aerial Vehicles (UAV) Based Building Exterior Cleaning System of Regular Building Maintenance for Urban Area. US Provisional Patent 63/748,674. Filed Jan 23, 2025.
5. Wen, W., Wang, X. (2025). AI Multi-modal Wearable Navigation System with Haptic Feedback for Visually Impaired Users. US Provisional Patent 63/817,802. Filed Jun 4, 2025.
6. Liu, X., Wen, W., Liu, J., Hsu, L.T. (2024). A Non-line-of-sight Error Correction Method, Device, Terminal and Storage Medium. China Patent Application 202410345048.X.
7. Gong, Z., Bao, X., Yu, B., Ge, Y., Hsu, L.T., Wen, W. (2023). A Vehicle Position Enhancement System and Method. China Patent Application 2023102894154.
8. Hsu, L.T., Wen, W. (2023). 3D Vision Aided GNSS Real-time Kinematic Positioning for Autonomous Systems in Urban Canyons. China Patent Application 202380033788.3.
9. Yang, P., Wen, W. (2024). Tightly Joined Positioning and Control Model for Unmanned Aerial Vehicles Based on Factor Graph Optimization. US Provisional Patent 63/709,072.
10. Zhang, T., Li, Y., Wen, W., Hsu, L.T. (2024). A Vehicle Multi-sensor Fusion Positioning Method, Device, Equipment and Medium. China Patent Application 202410252897.8.
11. Yang, P., Wen, W. (2024). Factor-Graph-Based Online Adaptive Force Distribution for Hexarotor UAVs. US Provisional Patent 63/709,071.
12. Liu, X., Zhang, L., Wen, W., Hsu, L.T. (2023). A Method and Device for GNSS Multipath Detection Assisted by LiDAR in Urban Environments. China Patent Application 202310726606.8.

Selected Open-sourced Code and Datasets