Sitemap
A list of all the posts and pages found on the site. For you robots out there, there is an XML version available for digesting as well.
Pages
About me
About me
Posts
Future Blog Post
Published:
This post will show up by default. To disable scheduling of future posts, edit config.yml and set future: false.
Blog Post number 4
Published:
This is a sample blog post. Lorem ipsum I can’t remember the rest of lorem ipsum and don’t have an internet connection right now. Testing testing testing this blog post. Blog posts are cool.
Blog Post number 3
Published:
This is a sample blog post. Lorem ipsum I can’t remember the rest of lorem ipsum and don’t have an internet connection right now. Testing testing testing this blog post. Blog posts are cool.
Blog Post number 2
Published:
This is a sample blog post. Lorem ipsum I can’t remember the rest of lorem ipsum and don’t have an internet connection right now. Testing testing testing this blog post. Blog posts are cool.
Blog Post number 1
Published:
This is a sample blog post. Lorem ipsum I can’t remember the rest of lorem ipsum and don’t have an internet connection right now. Testing testing testing this blog post. Blog posts are cool.
portfolio
Portfolio item number 1
Short description of portfolio item number 1
Portfolio item number 2
Short description of portfolio item number 2
publications
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.
Download Paper
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.
Download Paper
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.
Download Paper
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:
Download Paper
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.
Download Paper
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.
Download Paper
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.
Download Paper
Two stage GNSS outlier detection for factor graph optimization based GNSS-RTK/INS/odometer fusion
Published in arXiv preprint arXiv:2510.00524, 2025
This paper proposes a two-stage GNSS outlier detection method for improving factor graph optimization based sensor fusion.
Recommended citation: Song, B., Yan, P., Xia, X., Zhong, Y., Wen, W., & Hsu, L. Two stage GNSS outlier detection for factor graph optimization based GNSS-RTK/INS/odometer fusion. arXiv preprint arXiv:2510.00524.
Download Paper
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.
Download Paper
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.
Download Paper
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.
Download Paper
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.
Download Paper