Stanford
Navigation and Autonomous Vehicles Lab
Navigation and Autonomous Vehicles (NAV) Lab

High Integrity Navigational Sensor Fusion

Research Question: How to Intelligently Fuse Sensing Information to Achieve High Integrity? 

To ensure safe and reliable positioning of autonomous systems, it is critical to address not only positioning accuracy, but also its associated confidence, defined as integrity.  Indeed, claiming a 5-meter accuracy for an autonomous navigation system is not meaningful unless it is associated with a certain integrity level, such as a 95% confidence interval.  With a variety of sensors available to autonomous vehicles, such as GPS, LiDAR, camera and inertial sensors, can we really say “the more the merrier?”  In fact, including more sensing information can introduce more sensing failures.  It can also increase the required computation time, which is a precious commodity in real-time autonomous navigation applications.  We aim to intelligently process and fuse sensing information in order to achieve high integrity and quantified confidence for autonomous navigation. For example, we turn sensing noise and even absence of sensing into useful navigational signals. Inspired by cognitive attention in humans, we select a subset of “attention landmarks” from sensing measurements to reduce computation load and provide robust positioning.

Current Research Team: 

  • Shubh Gupta
  • Mira Partha
  • Daniel Neamati
  • Adam Dai
  • Ashwin Kanhere
  • Adyasha Mohanty
  • Asta Wu
  • Anonto Zaman
  • Tara Mina

Related Works: 

  • Daniel Neamati, Shubh Gupta, Mira Partha, and Grace Gao, Neural City Maps for GNSS NLOS Prediction, Proceedings of the Institute of Navigation GNSS+ conference (ION GNSS+ 2023), Denver, CO, Sep 2023. Best Presentation of the Session Award. [paper] [slides] [video]
  • Mira Partha, Shubh Gupta, and Grace Gao, Neural City Maps: A Case for 3D Urban Environment Representations Based on Radiance Fields, Proceedings of the Institute of Navigation GNSS+ conference (ION GNSS+ 2023), Denver, CO, Sep 2023, Best Presentation of the Session Award. [paper] [slides] [video]
  • Adam Dai, Shubh Gupta, and Grace Gao, Neural Radiance Maps for Extraterrestrial Navigation and Path Planning, Proceedings of the Institute of Navigation GNSS+ conference (ION GNSS+ 2023), Denver, CO, Sep 2023. [paper] [slides] 
  • Daniel Neamati, Sriramya Bhamidipati and Grace Gao, Mosaic Zonotope Shadow Matching for Risk-Aware Autonomous Localization in Harsh Urban Environments, Journal of Artificial Intelligence. Sep 2023; DOI: 10.1016/j.artint.2023.104000. [paper]
  • Adam Dai, Tara Mina, Ashwin Kanhere, and Grace Gao, Spoofing-Resilient LiDAR-GPS Factor Graph Localization with Chimera Signal Enhancement, Proceedings of the IEEE/ION PLANS conference, Monterey, CA, April 2023. [paper] [slides] [code]
  • Daniel Neamati, Sriramya Bhamidipati and Grace Gao, No Signal is also a Signal: A Set-Based Urban Positioning Paradigm, Inside GNSS Magazine, Mar-Apr 2023. [pdf]
  • Sriramya Bhamidipati, Shreyas Kousik and Grace Gao, Set-Valued Shadow Matching Using Zonotopes for 3-D Map-Aided GNSS Localization, Navigation: Journal of the Institute of Navigation. December 2022, 69 (4) navi.547; DOI: https://doi.org/10.33012/navi.547. [paper] [video] 
  • Daniel Neamati, Sriramya Bhamidipati, and Grace Gao, Set-Based Ambiguity Reduction in Shadow Matching with Iterative GNSS Pseudoranges, Proceedings of the Institute of Navigation GNSS+ conference (ION GNSS+ 2022), Denver, CO, Sep 2022. Best Presentation of the Session Award. [paper] [slides] [video]
  • Shubh Gupta, Adyasha Mohanty and Grace Gao, Getting The Best of Particle and Kalman Filters: GNSS Sensor Fusion using Rao-Blackwellized Particle Filter, Proceedings of the Institute of Navigation GNSS+ conference (ION GNSS+ 2022), Denver, CO, Sep 2022. [paper] [slides] [video]
  • Ashwin V. Kanhere, Tara Mina, Akshay Shetty, and Grace Gao, Factor Graph-based Spoofing Mitigation using the Chimera Signal Enhancement, Proceedings of the Institute of Navigation GNSS+ conference (ION GNSS+ 2022), Denver, CO, Sep 2022. [paper] [slides] [video]
  • Tara Mina, Ashwin V. Kanhere, Akshay Shetty and Grace Gao, GPS Spoofing-Resilient Filtering with Chimera and Self-Contained Odometry, Proceedings of the Institute of Navigation GNSS+ conference (ION GNSS+ 2022), Denver, CO, Sep 2022. [paper] [slides] [video]
  • Adyasha Mohanty, Asta Wu, Sriramya Bhamidipati and Grace Gao, Precise Relative Positioning via Tight-Coupling of GPS Carrier Phase Measurements and Multiple UWBs, IEEE International Conference on Robotics and Automation (ICRA) 2022.  [paper] [video]
  • Sriramya Bhamidipati and Grace Gao, Robust GPS-Vision Localization via Integrity-Driven Landmark Attention, Navigation: Journal of the Institute of Navigation. vol. 69, no. 1, Mar. 2022. doi: 10.33012/navi.501. [paper][video]
  • Adyasha Mohanty, Shubh Gupta and Grace Gao, A Particle Filtering Framework for Integrity Risk of GNSS-Camera Sensor Fusion, Navigation: Journal of the Institute of Navigation. Dec. 2021. doi: 10.1002/navi.455. [paper]
  • Adyasha Mohanty and Grace Gao, A Particle Filtering Framework for Tight GNSS-Camera Fusion using Convolutional Neural Networks, Proceedings of the Institute of Navigation GNSS+ conference (ION GNSS+ 2021), St. Louis, MO, Sep 2021. [paper][slides] [video]
  • Sriramya Bhamidipati, Shreyas Kousik and Grace Gao, Set-valued Shadow Matching using Zonotopes, Proceedings of the Institute of Navigation GNSS+ conference (ION GNSS+ 2021), St. Louis, MO, Sep 2021. [paper] [slides] [video]
  • Adyasha Mohanty, Shubh Gupta and Grace Gao, A Particle Filtering Framework for Integrity Risk of GNSS-Camera Sensor Fusion, Navigation: Journal of the Institute of Navigation. Dec. 2021. doi: 10.1002/navi.455. [paper]
  • Shubh Gupta and Grace Gao, Data-Driven Protection Levels for Camera and 3D Map-based Safe Urban Localization, Navigation: Journal of the Institute of Navigation. vol. 68, no. 3, pp. 643-660, Sept. 2021. doi: 10.1002/navi.445. [paper][video]
  • Sriramya Bhamidipati and Grace Gao, Integrity Monitoring of Graph-SLAM Using GPS and Fish-eye Camera, Navigation: Journal of the Institute of Navigation, vol. 67, no. 3, pp. 583-600, Aug 2020. doi: 10.1002/navi.381. [paper] [video]
  • Akshay Shetty and Grace Gao, Adaptive Covariance Estimation of LiDAR-based Positioning Errors for UAVs, Navigation: Journal of the Institute of Navigation, vol. 66, no. 2, pp. 463-476, May 2019. doi: 10.1002/navi.307. [paper]
  • Derek Chen and Grace Gao, Probabilistic Graphical Fusion of LiDAR, GPS, and 3D Building Maps for Urban UAV Navigation, Navigation: Journal of the Institute of Navigation, vol. 66, no. 1, pp. 151-168, Mar 2019. doi: 10.1002/navi.298. [paper]
  • Sriramya Bhamidipati and Grace Gao, Integrity-driven Landmark Attention for GPS-Vision Navigation via Stochastic Reachability, Proceedings of the Institute of Navigation GNSS+ conference (ION GNSS+ 2020), St. Louis, MO, Sep 2020. [paper] [slides] [video]
  • Adyasha Mohanty, Shubh Gupta and Grace Gao, A Particle Filtering Framework for Integrity Risk of GNSS-Camera Sensor Fusion, Proceedings of the Institute of Navigation GNSS+ conference (ION GNSS+ 2020), St. Louis, MO, Sep 2020. [paper][slides] [video] 
  • Shubh Gupta and Grace Gao, Data-Driven Protection Levels for Camera and 3D Map-based Safe Urban Localization, Proceedings of the Institute of Navigation GNSS+ conference (ION GNSS+ 2020), St. Louis, MO, Sep 2020. doi: 10.33012/2020.17698. [paper] [slides] [video]
  • Ashwin V. Kanhere and Grace Gao, LiDAR SLAM Utilizing Normal Distribution Transform and Measurement Consensus, Proceedings of the Institute of Navigation GNSS+ conference (ION GNSS+ 2019), Miami, FL, Sep 2019. [paper] [slides] [code]
  • Sriramya Bhamidipati and Grace Gao, SLAM-based Integrity Monitoring Using GPS and Fisheye Camera, Proceedings of the Institute of Navigation GNSS+ conference (ION GNSS+ 2019), Miami, FL, Sep 2019. [paper] [slides]
  • Shubh Gupta and Grace Gao, Particle RAIM for Integrity Monitoring, Proceedings of the Institute of Navigation GNSS+ conference (ION GNSS+ 2019), Miami, FL, Sep 2019. [paper] [slides]
  • Shubhendra Chauhan and Grace Gao, Vertical Protection Level Estimation for Direct Positioning Using a Bayesian Approach, Proceedings of the Institute of Navigation GNSS+ conference (ION GNSS+ 2019), Miami, FL, Sep 2019. [paper] [slildes]
  • Ashwin V. Kanhere and Grace Gao, Integrity for GPS/LiDAR Fusion Utilizing a RAIM Framework, Proceedings of the Institute of Navigation GNSS+ conference (ION GNSS+ 2018), Miami, FL, Sep 2018. Best Presentation of the Session Award. [paper]
  • Sriramya Bhamidipati and Grace Gao, Multiple GPS Fault Detection and Isolation Using a Graph-SLAM Framework, Proceedings of the Institute of Navigation GNSS+ conference (ION GNSS+ 2018), Miami, FL, Sep 2018. [paper]