Selected Publications

This page shows selected journal articles and conference papers. For a complete list of my publications, please find my articles on my Google Scholar profile.

Journal Articles

Degeneration of Sliding-Window Factor Graph Optimization into Iterated Extended Kalman Filtering

Published in Nature Portfolio journal Wireless Technology, 2026

This paper explores the theoretical relationship between Factor Graph Optimization and Extended Kalman Filtering.

Recommended citation: Song, B., Xu, R., Zhan, Z., & Hsu, L. (2026). Degeneration of Sliding-Window Factor Graph Optimization into Iterated Extended Kalman Filtering. Nature Portfolio journal Wireless Technology 2026.
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Certifiable Alignment of GNSS and Local Frames via Lagrangian Duality

Published in IEEE Robotics and Automation Letters, 2026

This paper presents a certifiable optimization approach for aligning GNSS and local reference frames using Lagrangian duality.

Recommended citation: Song, B., Giamou, M., Yan, P., Xia, C., & Hsu, L. (2026). Certifiable Alignment of GNSS and Local Frames via Lagrangian Duality. IEEE Robotics and Automation Letters, 2026.
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Certifiably Optimal Doppler Positioning With Opportunistic LEO satellites

Published in https://arxiv.org/abs/2509.17198, 2025

This paper presents a certifiably optimal approach to Doppler positioning using opportunistic LEO satellites.

Recommended citation: Song, B., Wen, W., Zhang, Q., Xu, B., & Hsu, L. (2025). Certifiably Optimal Doppler Positioning With Opportunistic LEO satellites.
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Online IMU-Odometer Calibration using GNSS Measurements for Unmanned Ground Vehicle Localization

Published in https://arxiv.org/abs/2510.08880, 2025

This paper proposes an online IMU-Odometer calibration method using GNSS measurements for accurate UGV localization.

Recommended citation: Song, B., Xia, X., Yan, P., Zhong, Y., Wen, W., & Hsu, L. (2025). Online IMU-Odometer Calibration using GNSS Measurements for Unmanned Ground Vehicle Localization.
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Using a Moving Antenna to Improve GNSS/INS Integration Performance Under Low-Dynamic Scenarios

Published in IEEE Transactions on Intelligent Transportation Systems, 2022

This paper proposes using a moving antenna to enhance GNSS/INS integration performance in low-dynamic environments.

Recommended citation: Li, X., Zhou, Y., Shen, Z., Song, B., & Li, S. (2022). Using a Moving Antenna to Improve GNSS/INS Integration Performance Under Low-Dynamic Scenarios. IEEE Transactions on Intelligent Transportation Systems 2022.
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A High-Precision Vehicle Navigation System Based on Tightly Coupled PPP-RTK/INS/Odometer Integration

Published in IEEE Transactions on Intelligent Transportation Systems, 2022

This paper presents a tightly coupled integration of PPP-RTK/INS/Odometer for high-precision vehicle navigation.

Recommended citation: Li, X., Qin, Z., Shen, Z., Li, X., Zhou, Y., & Song, B. (2022). A High-Precision Vehicle Navigation System Based on Tightly Coupled PPP-RTK/INS/Odometer Integration. IEEE Transactions on Intelligent Transportation Systems 2022.
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Consistent Localization for Autonomous Robots with Inter-vehicle GNSS Information Fusion

Published in IEEE communications letters, 2022

This paper proposes a consistent localization method for autonomous robots through inter-vehicle GNSS information fusion.

Recommended citation: Li, X., Song, B., et al. (2022). Consistent Localization for Autonomous Robots with Inter-vehicle GNSS Information Fusion. IEEE communications letters 2022.
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Conference Papers

A Decentralized LiDAR-SLAM System with Certifiably Optimal Pose Graph Optimization

Published in IEEE ICRA 2026 Workshop, 2026

This paper presents a decentralized LiDAR-SLAM system with certifiably optimal pose graph optimization for multi-robot systems.

Recommended citation: Song, B., Huang, F., & Hsu, L. (2026). A Decentralized LiDAR-SLAM System with Certifiably Optimal Pose Graph Optimization. IEEE ICRA 2026 Workshop.
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Integrity-Monitored Deep Reinforcement Learning for Safe and Robust Autonomous Navigation

Published in IEEE ITSC 2025, 2025

This paper integrates integrity monitoring with deep reinforcement learning for safe autonomous vehicle navigation.

Recommended citation: Zhang, Y., Wang, Y., Song, B., & Wen, W. (2025). Integrity-Monitored Deep Reinforcement Learning for Safe and Robust Autonomous Navigation. IEEE ITSC 2025.
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Certifiably Optimal Satellite Orbit Determination Based on Doppler Measurements for Low-Earth-Orbit Satellite

Published in IEEE/ION PLANS 2025, 2025

This paper presents a certifiable optimization approach for satellite orbit determination using Doppler measurements.

Recommended citation: Song, B., Wen, W., & Hsu, L. (2025). Certifiably Optimal Satellite Orbit Determination Based on Doppler Measurements for Low-Earth-Orbit Satellite. IEEE/ION PLANS 2025.
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Tightly coupled Low-cost GNSS-RTK/INS/Odometer Integration Via Factor Graph Optimization Aided by GNSS Outlier Mitigation in Urban Canyons

Published in European Navigation Conference (ENC), 2024

This paper is about fusing GNSS/INS/Odometer for AGV navigation using factor graph optimization.

Recommended citation: Song, B.; Wen, W.; Hsu, L. Tightly coupled Low-cost GNSS-RTK/INS/Odometer Integration Via Factor Graph Optimization Aided by GNSS Outlier Mitigation in Urban Canyons, in Proceedings of the European Navigation Conference 2024, Noordwijk, Zuid/Holland, 22–24 May 2024, MDPI: Basel, Switzerland, doi:
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Baoshan Song

Selected Publications

Journal Articles

Conference Papers