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High Integrity Sensor Fusion

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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 fuse sensing information in order to achieve high integrity and quantified confidence for autonomous navigation.

Research Team: 

  • Sriramya Bhamidipati
  • Bradley Collicott
  • Shubh Gupta
  • Ashwin Kanhere
  • Adyasha Mohanty
  • Daniel Neamati

Related Works: 

  • 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]

  • Sriramya Bhamidipati and Grace Gao, Robust GPS-Vision Localization via Integrity-Driven Landmark Attention, Navigation: Journal of the Institute of Navigation. Accepted. [paper]

  • 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. Accepted.  [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]

  • Sriramya Bhamidipati and Grace Gao, Integrity Monitoring of Graph-SLAM Using GPS and Fish-Eye CameraNavigation: Journal of the Institute of Navigation, vol. 67, no. 3, pp. 583-600, Aug 2020. doi: 10.1002/navi.381. [paper]
  • Akshay Shetty and Grace Gao, Adaptive Covariance Estimation of LiDAR-based Positioning Errors for UAVsNavigation: 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 NavigationNavigation: 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 X. Gao, Integrity-driven Landmark Attention for GPS-Vision Navigation Via Stochastic ReachabilityProceedings of the Institute of Navigation GNSS+ conference (ION GNSS+ 2020), St. Louis, MO, Sep 2020. [paper] [slides] [video]

  • Adyasha Mohanty, Shubh Gupta and Grace X. Gao, A Particle Filtering Framework for Integrity Risk of GNSS-Camera Sensor FusionProceedings of the Institute of Navigation GNSS+ conference (ION GNSS+ 2020), St. Louis, MO, Sep 2020. [paper][slides] [video] 

  • Shubh Gupta and Grace X. Gao, Data-Driven Protection Levels for Camera and 3D Map-based Safe Urban LocalizationProceedings of the Institute of Navigation GNSS+ conference (ION GNSS+ 2020), St. Louis, MO, Sep 2020. [paper] [slides] [video]

  • Ashwin Kanhere and Grace X. Gao, LiDAR SLAM Utilizing Normal Distribution Transform and Measurement ConsensusProceedings of the Institute of Navigation GNSS+ conference (ION GNSS+ 2019), Miami, FL, Sep 2019. [paper] [slides] [code]

  • Sriramya Bhamidipati and Grace X. Gao, SLAM-based Integrity Monitoring Using GPS and Fisheye CameraProceedings of the Institute of Navigation GNSS+ conference (ION GNSS+ 2019), Miami, FL, Sep 2019. [paper] [slides] 

  • Shubh Gupta and Grace X. Gao, Particle RAIM for Integrity MonitoringProceedings of the Institute of Navigation GNSS+ conference (ION GNSS+ 2019), Miami, FL, Sep 2019. [paper] [slides]

  • Shubhendra Chauhan and Grace X. Gao, Vertical Protection Level Estimation for Direct Positioning Using a Bayesian ApproachProceedings of the Institute of Navigation GNSS+ conference (ION GNSS+ 2019), Miami, FL, Sep 2019. [paper] [slildes]

  • Ashwin Kanhere and Grace X. 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 X. Gao, Multiple GPS Fault Detection and Isolation Using a Graph-SLAM FrameworkProceedings of the Institute of Navigation GNSS+ conference (ION GNSS+ 2018), Miami, FL, Sep 2018. [paper]