Jan Skaloud
Senior Scientist
EPFL ENAC IIE TOPO
GC C2 397 (Bâtiment GC)
Station 18
CH-1015 Lausanne
Web site: Web site: https://topo.epfl.ch/
EPFL AVP-PGE EDCE-ENS
GC A2 454 (Bâtiment GC)
Station 18
CH-1015 Lausanne
+41 21 693 27 53
Office:
GC A2 454
EPFL
>
VPA
>
VPA-AVP-PGE
>
AVP-PGE-EDOC
>
EDCE-ENS
Fields of expertise
Satellite positioning, inertial and integrated navigation
Sensor orientation and calibration, attitude determination
Mobile mapping, airborne laser scanning
Adjustment methods, Kalman Filtering
Sensor orientation and calibration, attitude determination
Mobile mapping, airborne laser scanning
Adjustment methods, Kalman Filtering
Mission
M.E.R., Geodetic Engineering LaboratoryAdjunct Professor, The University of Calgary, Canada
Awards
"Hansa-Luftbild Preis 2015" for co-authoring the best publication of the year 2014 in the PFG journal entitled: A Micro Aerial Vehicle with Precise Position and Attitude Sensors."Karl Kraus Medal 2012" for contribution to the book - Airborne and Terrestrial Laser Scanning - published by Whittles. This medal distinction is a quadrennial prize that honors the authorship of excellent textbook in the scientific fields of Photogrammetry, Remote Sensing and Spatial Information Sciences.
"GNSS Leader to Watch 2009" presented by the journal GPS World to 50 world's most influential scientists in the field of satellite navigation.
Editorial
ISPRS Journal of Photogrammetry and Remote Sensing, 2012-current, editorial board IEEE Transaction on Vehicular Technology
IEEE Transaction on Aerospace and Electronic Systems
IEEE Transaction on Radar, Sonar & Navigation
IEEE Transaction on Robotics and Autonomous Systems
IEEE Transaction on Instrumentation and Measurement
IEEE Transaction on Pattern Recognition
IEEE Transaction on Signal Processing
IEEE Geoscience and Remote Sensing Letters
ISPRS Journal of Photogrammetry and Remote Sensing
Photogrammetry Engineering and Remote Sensing
Canadian Aeronautics and Space Journal
Canadian Journal on Remote Sensing
Geomatica
Photogrammetry Records
Advances in Space Research
Measurement Science and Technology
Remote Sensing
Journal of photogrammetry, remote sensing and geo-information processing (PFG)
Survey Review
Books / Monographs
J. Skaloud and M. Cramer, Data Capture, in GIS Handbook, W. Kresse and D. Danko, Eds. Springer, 2011.D. Lichti and J. Skaloud, Registration and Calibration, in Airborne and terrestrial laser scanning, H.-G. Maas and G. Vosselman, Eds. Whittles Publishing, 2010.
J. Skaloud, Reliability of direct georeferencing phase 1: An overview of the current approaches and possibilities, in Checking and Improving of Digital Terrain Models / Reliability of Direct Georeferencing, EuroSDR Official Publication 51, 2006.
K. Legat, J. Skaloud, and R. Schmidt, Reliability of direct georeferencing phase 2: A case study on practical problems and solutions., in Checking and Improving of Digital Terrain Models / Reliability of Direct Georeferencing., EuroSDR Official Publication 51, 2006.
Publications
Infoscience publications
Model Based Navigation of Delta-Wing UAV - In-Flight Calibration and Autonomous Performance
European Journal of Navigation. 2021-02-28.Calibration of Fixed-Wing UAV Aerodynamic Coefficients with Photogrammetry for VDM-based Navigation
2021-02-07. International Technical Meeting of The Institute of Navigation 2021, January 25-28, 2021. p. 775-786. DOI : 10.33012/2021.17867.Fixed-wing micro UAV open data with digicam and raw INS/GNSS
ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences. 2021. DOI : 10.5194/isprs-annals-V-1-2021-105-2021.Airborne and mobile LiDAR, which sensors for which application?
2020-08-11. XXIVth ISPRS Congress, Online, August 6, 2020. p. 397–405. DOI : 10.5194/isprs-archives-XLIII-B1-2020-397-2020.On the Self-Calibration of Aerodynamic Coefficients in Vehicle Dynamic Model-Based Navigation
Drones. 2020-07-12. DOI : 10.3390/drones4030032.On the calibration aspects of MEMS-IMUs used in micro UAVs for sensor orientation
2020-06-09. IEEE-ION Position Location and Navigation Symposium (PLANS), Portland, Oregon, April 20-23, 2020. DOI : 10.1109/PLANS46316.2020.9110160.Wavelet-Based Moment-Matching Techniques for Inertial Sensor Calibration
IEEE Transactions on Instrumentation and Measurement. 2020-04-08. DOI : 10.1109/TIM.2020.2984820.On the adjustment, calibration and orientation of drone photogrammetry and laser-scanning
Lausanne, EPFL, 2020. DOI : 10.5075/epfl-thesis-7826.Fusion of Photo with Airborne Laser Scanning
2020. XXIV ISPRS Congress (2020 edition), [Virtual event], August 31 - September 2, 2020. p. 173-180. DOI : 10.5194/isprs-annals-V-1-2020-173-2020.Mapping quality prediction for RTK/PPK-equipped micro-drones operating in complex natural environment
ISPRS Journal of Photogrammetry and Remote Sensing. 2020. DOI : 10.1016/j.isprsjprs.2020.05.015.Camera Calibration Models and Methods for Corridor Mapping with UAVs
2020. International Society for Photogrammetry and Remote Sensing, Virtual, Septembre 1-2, 2020. p. 231-238. DOI : 10.5194/isprs-annals-V-1-2020-231-2020.UAV based photogrammetry for snow height determination with GNSS/INS assisted aerial control
2019-10-05Optimal Stochastic Sensor Error Modeling based on Actual Impact on Quality of GNSS-INS Integrated Navigation
2019-09-20. ION GNSS , Miami, Florida, US, September 16-20, 2019. p. 2566-2574. DOI : 10.33012/2019.17057.On raw inertial measurements in dynamic networks
ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences. 2019-05-29. DOI : 10.5194/isprs-annals-IV-2-W5-549-2019.Introducing Vehicle Dynamic Models in Dynamic Networks for Navigation in UAVs
2019-01-26Sensitivity to Time Delays in VDM-Based Navigation
Drones. 2019-01-14. DOI : 10.3390/drones3010011.Calibration Aspects of INS Navigation
Lausanne, EPFL, 2019. DOI : 10.5075/epfl-thesis-9357.VDM-based UAV Attitude Determination in Absence of IMU Data
2018-08-13. 2018 European Navigation Conference (ENC), Gothenburg, Sweden, May 14-17, 2018. p. 84-90. DOI : 10.1109/EURONAV.2018.8433243.Assessment of VDM-based autonomous navigation of a UAV under operational conditions
Robotics and Autonomous Systems. 2018-05-17. DOI : 10.1016/j.robot.2018.05.007.Construction of dynamically-dependent stochastic error models
IEEE/ION Position, Location and Navigation Symposium (PLANS 2018), Monterey, CA, USA, 23-26 April 2018.Construction of Dynamically-Dependent Stochastic Error Models
2018-01-01. IEEE/ION Position, Location and Navigation Symposium (PLANS), Monterey, CA, Apr 23-26, 2018. p. 1336-1341. DOI : 10.1109/PLANS.2018.8373524.Use of a New Online Calibration Platform With Applications to Inertial Sensors
IEEE AEROSPACE AND ELECTRONIC SYSTEMS MAGAZINE. 2018. DOI : 10.1109/MAES.2018.170153.Tightly Coupled GNSS/INS Integration based on Robust M-Estimators
2018. p. 1554-1561. DOI : 10.1109/PLANS.2018.8373551.A Method of Airborne Gravimetry by Combining Strapdown Inertial and New Satellite Observations via Dynamic Networks
INTERNATIONAL SYMPOSIUM ON EARTH AND ENVIRONMENTAL SCIENCES FOR FUTURE GENERATIONS. 2018. DOI : 10.1007/1345_2016_229.Airborne Hyperspectral Imaging of Lakes
Lausanne, EPFL, 2018. DOI : 10.5075/epfl-thesis-8543.Vehicle Dynamic Model Based Navigation for Small UAVs
EPFL, 2018. DOI : 10.5075/epfl-thesis-8494.An overview of a new sensor calibration platform
2017-08-01. 4th IEEE International Workshop on Metrology for AeroSpace (MetroAeroSpace 2017), Padua, Italy, June 21-23, 2017. p. 364-368. DOI : 10.1109/MetroAeroSpace.2017.7999598.An Overview of a New Sensor Calibration Platform
4th IEEE International Workshop on Metrology for Aerosapce, Padua, Italy, June 21 - 23, 2017.Bundle adjustment with raw inertial observations
ISPRS Journal of Photogrammetry and Remote Sensing. 2017-05-23. DOI : 10.1016/j.isprsjprs.2017.05.008.Parameter Determination of Sensor Stochastic Models under Covariate Dependency
European Geosciences Union General Assembly, Vienna, Austria, April 8 - 13, 2018.Research online: Robust tightly coupled GNSS/INS estimation for navigation
GPS World. 2017.Performance assessment of integrated sensor orientation with a low-cost GNSS receiver
ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences. 2017. DOI : 10.5194/isprs-annals-IV-2-W3-75-2017.Robust Tightly Coupled GNSS/INS Estimation for Navigation in Challenging Scenarios
2017. European Navigation Conference (ENC 2017), Lausanne, Switzerland, May 9-12.Innovation vs Residual KF Based GNSS/INS Autonomous Integrity Monitoring in Single Fault Scenario
2017. ION GNSS 2017, Portland, Oregon, USA, September 26-29, 2017. p. 2126-2136.Positioning Autonomy of a Fixed-Wing UAV through VDM/INS Integration with Experimental Results
2017. p. 2332-2337.Integrated Sensor Orientation on Micro Aerial Vehicles
Lausanne, EPFL, 2017. DOI : 10.5075/epfl-thesis-7530.Time synchronization of consumer cameras on Micro Aerial Vehicles
Isprs Journal of Photogrammetry and Remote Sensing. 2017. DOI : 10.1016/j.isprsjprs.2016.11.009.Erhöhte Zuverlässigkeit der GPS Drohnennavigation dank einem integrierten Barometer
AHORN 2016 – der Alpenraum und seine Herausforderungen im Bereich Orientierung, Navigation und Informationsaustausch, Garmisch-Partenkirchen, 17.-18. November 2016.Application Of Vehicle Dynamic Modeling In Uavs For Precise Determination Of Exterior Orientation
2016. p. 827-831. DOI : 10.5194/isprsarchives-XLI-B3-827-2016.Applicability Of New Approaches Of Sensor Orientation To Micro Aerial Vehicles
2016. 23rd ISPRS Congress, Prague, Czech Republic, July 12-19, 2016. p. 441-447. DOI : 10.5194/isprsannals-III-3-441-2016.Accurate Optical Target Pose Determination For Applications In Aerial Photogrammetry
2016. 23rd ISPRS Congress, Prague, CZECH REPUBLIC, JUL 12-19, 2016. p. 257-262. DOI : 10.5194/isprsannals-III-3-257-2016.Autonomous Vehicle Dynamic Model-Based Navigation for Small UAVs
Navigation-Journal of the Institute of Navigation. 2016. DOI : 10.1002/navi.140.Autonomous Navigation Of Small Uavs Based On Vehicle Dynamic Model
2016. p. 117-122. DOI : 10.5194/isprsarchives-XL-3-W4-117-2016.Evaluation of Wind Effects on UAV Autonomous Navigation Based on Vehicle Dynamic Model
2016. p. 1432-1440.UAV Sensor Orientation with Pre-calibrated Redundant IMU/GNSS Observations: Preliminary Results
36te Dreiländertagung Photogrammetrie and Fernerkundung der SGPF, DGPF und OVG, Bern, June 7-9, 2016.UAV Sensor Orientation with Pre-calibrated Redundant IMU/GNSS Observations: Preliminary Results
2016. 36te Dreiländertagung Photogrammetrie and Fernerkundung der SGPF, DGPF und OVG, Bern, Switzerland, June 7-9, 2016. p. 26-33.Beyond Allan Variance - GMWM Framework For Sensor Calibration
Invited presentation at Department of Geomatics Engineering, The University of Calgary, Alberta, Canada, August 27, 2015.Progress in airborne gravimetry by combining strapdown inertial and new satellite observations via dynamic networks
26th IUGG General Assembly, IAG Symposia, Prague, Czech Republic, June 22 - July 2, 2015.An inertial sensor calibration platform to estimate and select error models
2015. IAIN World Congress 2015, Prague, Czech Republic, October 20-23, 2015. p. 1-4. DOI : 10.1109/IAIN.2015.7352255.Drohne für ein hoch genaues Korridor-Mapping
AHORN 2015 – der Alpenraum und seine Herausforderungen im Bereich Orientierung, Navigation und Informationsaustausch, Wildhaus, November 26-27,2015.Automatic Identification and Calibration of Stochastic Parameters in Inertial Sensors
Navigation-Journal Of The Institute Of Navigation. 2015. DOI : 10.1002/navi.119.Automatic and computationally efficient method for model selection in inertial sensor calibration
2015. ION GNSS , September 14-18.A computationally efficient platform for inertial sensor calibration
2015. ION GNSS , Tampa, Florida, USA, September 14-18.Position accuracy with redundant MEMS IMU for road applications
European Journal of Navigation. 2015.Photogrammetric Mission Planner for RPAS
2015. UAV-g, Toronto, Canada, August 30-September 2, 2015. p. 61-65. DOI : 10.5194/isprsarchives-XL-1-W4-61-2015.Fixed-wing Micro Aerial Vehicle for Accurate Corridor Mapping
2015. UAV-g, Toronto, Canada, August 30-September 2, 2015. p. 23-31. DOI : 10.5194/isprsannals-II-1-W1-23-2015.Planificateur de missions photogrammétriques pour drones ultra-légers (Micro Aerial Vehicle MAV)
Géomatique Suisse. 2015.Prediction of phase ambiguity resolution based on signal intensity and geometry
Gps Solutions. 2015. DOI : 10.1007/s10291-014-0406-4.Position Accuracy with Redundant MEMS IMU for Road Applications
2015. European Navigation Conference GNSS, Bordeaux, France, April 7-10, 2015.Generalized Method of Wavelet Moments for Inertial Navigation Filter Design
IEEE Transactions on Aerospace and Electronic Systems. 2014. DOI : 10.1109/Taes.2014.120751.Satellite Positioning for Sport-Performance Analysis: Challenges & Responses
International Sport Convention 2014, Geneva, Switzerland, December 10-11, 2014.Ein Mikroflugzeug zur genauen Kartierung ohne Passpunkte am Boden
Géomatique Suisse. 2014.High-Precision Geomonitoring using Micro Aerial Vehicles
2014. Deltas: Genesis, Dynamics, Modelling and Sustainable Development, Istomino, Republic of Buryatia. Russian Federation, July 21-25, 2014.A Micro Aerial Vehicle with Precise Position and Attitude Sensors
Photogrammetrie, Fernerkundung, Geoinformation (PFG). 2014. DOI : 10.1127/1432-8364/2014/0220.Sensor Orientation on Micro Aerial Vehicles
Swiss GEOSummit meeting, Workshop "Facts & Trends: Nutzung von Drohnen in der Schweiz, Bern, Switzerland, June 6, 2014.Mapping with MAV: Experimental Study on the Contribution of Absolute and Relative Aerial Position Control
2014. European Calibration and Orientation Workshop, Castelldefels, Spain, February 12-14, 2014. p. 123-129.Autarktic and inertial measurement based low-cost reconstruction of motorcycle forward speed
2013. ENC-GNSS, Vienna (Austria), 2013.Challenges & solutions in sensor orientation
Fall Meeting of The Swiss Society of Photogrammetry and Remote Sensing (SSPT), EPFL, Lausanne, Switzerland, November 28, 2013.A Micro-Uav with the Capability of Direct Georeferencing
2013. UAV-g, Rostock, Germany, September 4-6, 2013. p. 317-323. DOI : 10.5194/isprsarchives-XL-1-W2-317-2013.Wavelet-variance-based estimation for composite stochastic processes
Journal of the American Statistical Association. 2013. DOI : 10.1080/01621459.2013.799920.An algorithm for automatic inertial sensor calibration
2013. ION GNSS , Nashville, Tennessee, USA, September 16-20, 2013.Soil Moisture & Snow Properties Determination with GNSS in Alpine Environments: Challenges, Status, and Perspectives
Remote Sensing. 2013. DOI : 10.3390/rs5073516.Modeling and Processing Approaches for Integrated Inertial Navigation
Lausanne, EPFL, 2013. DOI : 10.5075/epfl-thesis-5601.Automated approach for rigorous light detection and ranging system calibration without preprocessing and strict terrain coverage requirements
Optical Engineering. 2012. DOI : 10.1117/1.Oe.51.7.076201.SEARCHING LOST PEOPLE WITH UAVS: THE SYSTEM AND RESULTS OF THE CLOSE-SEARCH PROJECT
2012. XXII Congress of the International Society for Photogrammetry and Remote Sensing, , Melbourne, Australia, August 25 - September 1, 2012. p. 441-446.Fault Detection and Isolation in Multiple MEMS-IMUs Configurations
Ieee Transactions On Aerospace And Electronic Systems. 2012. DOI : 10.1109/TAES.2012.6237576.Drones to the Rescue!
Inside GNSS. 2012.A Framework for Inertial Sensor Calibration Using Complex Stochastic Error Models
2012. ION/IEEE PLANS, Session A5, Myrtle Beach, SC, USA, April 2012. p. 849-861. DOI : 10.1109/PLANS.2012.6236827.Automated Assessment of Digital Terrain Models Derived From Airborne Laser Scanning
PFG. 2012. DOI : 10.1127/1432-8364/2012/0105.Data Capture and Geosensor Networks
Springer Handbook of Geographic Information; Springer, 2012. p. 8.1-8.88.Integrity Aspects of Hybrid EGNOS-based Navigation on Support of Search And-Rescue Missions with UAVs
2011. ION GNSS 2011, Portland, Oregon, USA, September 19-23, 2011. p. 8.Improving Modeling of MEMS-IMUs Operating in GNSS-denied Conditions
2011. ION GNSS 2011, Portland, Oregon, USA, September 19-23, 2011. p. 10.MAV-based real-time localisation of terrestrial targets with cm-level accuracy: Feasibility study
2011. UAV-g 2011 - Unmanned Aerial Vehicle in Geomatics, Zurich, Switzerland, September 14-16, 2011.Rigorous Integration of Inertial Navigation with Optical Sensors by Dynamic Networks
Journal of Navigation. 2011.Constrained expectation-maximization algorithm for stochastic inertial error modeling: study of feasibility
Measurement Science and Technology. 2011. DOI : 10.1088/0957-0233/22/8/085204.Optimiser la performance de calcul pour la cartographie en temps réel avec un Laser Scanner aéroporté
Géomatique Suisse. 2011.CLOSE-SEARCH: ACCURATE AND SAFE EGNOS-SOL NAVIGATION FOR UAV-BASED LOW-COST SAR OPERATIONS
2011. International Geomatic Week 2011, Barcelona, March 15-17, 2011.The close-search project: uav-based search operations using thermal imaging and egnos-sol navigation
2011. 4i4DM 2011 - GeoInformation For Disaster Management, Antalya, Spain, May 3-8, 2011.Optimizing Computational Performance for Real-Time Mapping with Airborne Laser Scanning
2010.Registration and Calibration
Airborne and Terrestrial Laser Scanning; Whittles Publishing, 2010. p. 83-133.Noise reduction and estimation in multiple micro-electro-mechanical inertial systems
Measurement Science and Technology. 2010. DOI : 10.1088/0957-0233/21/6/065201.Real-time registration of airborne laser data with sub-decimeter accuracy
ISPRS Journal of Photogrammetry and Remote Sensing. 2010. DOI : 10.1016/j.isprsjprs.2009.12.003.In-flight quality assessment and data processing for airborne laser scanning
Lausanne, EPFL, 2010. DOI : 10.5075/epfl-thesis-4590.Optimization of two GPS/MEMS-IMU integration strategies with application to sports
GPS Solutions. 2009. DOI : 10.1007/s10291-009-0124-5.Automated Processing of GPS/MEMS-IMU Data for Position, Velocity and Attitude Determination
2009The use of wavelet transform for an automated initialization in GPS/MEMS-IMU integration
2009. 13th IAIN World Congress, Stockholm (Sweden), October 27-30, 2009. p. 27-30.Airborne LiDAR In-flight Accuracy Estimation
GPS World. 2009.Trajectory determination and analysis in sports by satellite and inertial navigation
Lausanne, EPFL, 2009. DOI : 10.5075/epfl-thesis-4288.Towards in-flight quality assessment of airborne laser scanning
2008. XXI ISPRS Congress, Beijing (China), July 3-11, 2008.GPS/INS Integrity in Airborne Mapping
2008On the calibration strategy of medium format cameras for direct georeferencing
International Calibration and Orientation Workshop EuroCOW, Castelldefels, Spain, 30.1.-1.2. 2008.Vers une analyse de qualité des données de laser aéroporté en temps réel
Geomatik Schweiz. 2008.Vision-aided inertial navigation system for robotic mobile mapping
Journal of Applied Geodesy. 2008. DOI : 10.1515/JAG.2008.005.Accurate Trajectory and Orientation of a Motorcycle derived from low-cost Satellite and Inertial Measurement Systems
2008. 7th ISEA CONFERENCE 2008, Biarritz, June 2-6, 2008. p. 223-230. DOI : 10.1007/978-2-287-09411-8_27.Redundant MEMS-IMU integrated with GPS for Performance Assessment in Sports
2008. IEEE/ION PLANS 2008, Monterey, California, May 5-8, 2008. p. 1260-1268. DOI : 10.1109/PLANS.2008.4570079.Theory and Reality of Direct Georeferencing in National Coordinates
ISPRS Journal of Photogrammetry and Remote Sensing. 2008. DOI : 10.1016/j.isprsjprs.2007.09.002.Le filtre de Kalman unscented - outil performant en géodésie cinématique
Géomatique Suisse. 2008.Assessment of Timing and Performance based on Trajectories from low-cost GPS/INS Positioning
2007. International Congress on Science and Skiing, St. Christoph, Austria, December 14-20 2007.Accuracy Estimation for Laser Point Cloud Including Scanning Geometry
2007. 5th International Symposium on Mobile Mapping Technology, Padova (Italy), May 29-31, 2007.Towards Automated LiDAR Boresight Self-calibration
2007. 5th International Symposium on Mobile Mapping Technology, Padova (Italy), May 29-31, 2007.L'analyse de performance sportive à l'aide d'un système GPS/INS low-cost: évaluation de capteurs inertiels de type MEMS
XYZ. 2007.Turning Point - Trajectory Analysis for Skiers
Inside GNSS. 2007.Assessment of GPS/MEMS-IMU Integration Performance in Ski Racing
2007. TimeNav'07, Geneva (Switzerland), May 29-June 1, 2007.Assessment of the Integration Strategy between GPS and Body-Worn MEMS Sensors with Application to Sports
2007. ION-GNSS 2007, Fort Worth (Texas, USA), September 25-28, 2007.A mobile mapping system for road data capture via a single camera
Advances in Mobile Mapping Technology; London: Taylor & Francis, 2007.An eye for landscape - rapid aerial mapping with handheld sensors
GPS World. 2006.Reliability of Direct Georeferencing Phase 2: A Case Study on Practical Problems and Solutions., Checking and Improving of Digital Terrain Models / Reliability of Direct Georeferencing.
2006Reliability of Direct Georeferencing Phase 1: An Overview of the Current Approaches and Possibilities., Checking and Improving of Digital Terrain Models / Reliability of Direct Georeferencing.
2006Real-time processing of GPS/INS data for on-the-fly quality control in airborne mobile mapping.
2006. European Navigation Congress, Manchester, 7-10 May. p. 14.Rigorous approach to bore-sight self-calibration in airborne laser scanning
ISPRS Journal of Photogrammetry & Remote Sensing. 2006. DOI : 10.1016/j.isprsjprs.2006.07.003.An Eye for Landscapes - Rapid Aerial Mapping with Handheld Sensors
GPS World. 2006.Requirements for an orientation and calibration standard for digital aerial cameras and related sensors
2006. Symposium of ISPRS Commission 1, Paris, July 3-6, 2006.Open-source software-operated CMOS camera for real-time mapping
2006. ISPRS Commission 1 Symposium, Paris, July 3-6, 2006.Exploring Bidirectional GPRS Capabilities in GNSS Positioning
2005. GNSS 2005, Munich (Germany), July 19-22.Integrating Photogrammetry and Inertial Sensors for Robotics Navigation and Mapping
2005. Integrating Photogrammetry and Inertial Sensors for Robotics Navigation and Mapping, Vienna (Austria), October 3-5.HELIMAP: Digital imagery/Lidar handheld airborne mapping system for natural hazard monitoring.
2005. 6th Geomatic Week Conference, Barcelona (Spain), February 8-11.HELIMAP: Rapid Large Scale Mapping Using Handheld LiDAR/CCD/GPS/INS Sensors on Helicopters.
2005. ION GNSS 2005, Long Beach, California, September 12-13, 2005.Photobus on its Way to Real-time Mapping
GIS Development Middle East. 2005.Precise Road Geometry for Integrated Transport Safety Systems
2005. STRC 05 5th Swiss Transport Research Conference, Monte Verità / Ascona, March 09-11, 2005.Développement d'un système d'acquisition de données inertielles / GPS
Revue Polytechnique. 2005.Photogrammetry-derived Navigation Parameters for INS Kalman Filter Updates
2004. XXth ISPRS Congress, Istanbul (Turkey), July 14-23.GSM-Distributed RTK for Precise Analysis of Speed Skiing
2004.Photobus: Towards Real-Time Mapping
2004. XXth ISPRS Congress, Istanbul (Turkey), July 12-23.Development and Experiences with A Fully-Digital Handheld Mapping System Operated from A Helicopter
2004. XX ISPRS Congress, Istanbul (Turkey), July 12-23, 2004.GPS/INS Integration: From Modern Methods of Data Acquisition fo New Applications
European Journal of Navigation. 2004.Techniques GPS-RTK appliquées à la trajectographie
Revue XYZ. 2004.Photobus: en route vers la cartographie mobile en temps réel
Géomatique Suisse. 2004.A mobile mapping system for road data capture via a single camera
2003. 4th International symposium on mobile mapping technology, Kunming (China), August 25-27.8.2003.A Mobile Mapping System for Road Data Capture via A Single Camera
2003. Optical 3D Measurement Techniques VI, Zurich, September 23-25, 2003.Towards A More Rigorous Boresight Determination: Theory, Technology and Realities of Inertial/GPS Sensor Orientation
2003.Synergy of CP-DGPS, Accelerometry and Magnetic Sensors for recise Trajectography in Ski Racing
2003.Trajectographie de courses de ski alpin avec GPS
Géomatique Suisse. 2003.Géoréférencement direct des images par GPS/INS Approche rigoureuse pour le calibrage des excentricités angulaires (boresight calibration)
Géomatique Suisse. 2003.High accuracy handheld mapping system for fast helicopter deployment
2002. Joint International Symposium on Geospatial Theory, Processing and Applications, Ottawa (Canada), July 9-12.Orientation directe d'une caméra héliportée avec GPS et INS
Mensuration, Photogrammétrie, Génie rural. 2002. DOI : 10.5169/seals-235939.Direct Georeferencing in Aerial Photogrammetric Mapping
Photogrammetric Engineering & Remote Sensing. 2002.Athletic Analysis With a Racing Heart
GPS World. 2001.Development of a low cost mobile mapping system for road data base management
2001.A mobile mapping system for automating road data capture in real time
2001.The use of wavelets for the analysis and de-noising of kinematic geodetic measurements
Schwarz.Direct Versus Indirect Methods of Sensor Orientation
Journal ION-CH. 2000.Development of a helicopter-based integrated system for avalanche mapping and hazard management
2000. p. 565-572.DGPS-Calibrated Accelerometric System for Dynamic Sports Events
2000. p. 1517-1524.Application of Inertial Technology to Underground Positioning: The Soudan Mine Shaft Survey
Zeitschrift für Vermessungswesen. 2000.Accurate orientation for airborne mapping systems
Photogrammetric Engineering & Remote Sensing. 2000.Detection and filtering of short-term (1/f) noise in inertial sensors
Journal of Navigation. 1999. DOI : 10.1002/j.2161-4296.1999.tb02398.x.Problems in Direct-Georeferencing by INS/DGPS in the Airborne Environment
1999.Infoscience
Model Based Navigation of Delta-Wing UAV - In-Flight Calibration and Autonomous Performance
European Journal of Navigation. 2021-02-28.Calibration of Fixed-Wing UAV Aerodynamic Coefficients with Photogrammetry for VDM-based Navigation
2021-02-07. International Technical Meeting of The Institute of Navigation 2021, January 25-28, 2021. p. 775-786. DOI : 10.33012/2021.17867.Fixed-wing micro UAV open data with digicam and raw INS/GNSS
ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences. 2021. DOI : 10.5194/isprs-annals-V-1-2021-105-2021.Toward an objective assessment of mobility in clinical and daily activity settings
Lausanne, EPFL, 2021. DOI : 10.5075/epfl-thesis-9349.Doppler-based positioning using LEO augmented satellite constellation - Simulations of perspectives
2020-10-05Airborne and mobile LiDAR, which sensors for which application?
2020-08-11. XXIVth ISPRS Congress, Online, August 6, 2020. p. 397–405. DOI : 10.5194/isprs-archives-XLIII-B1-2020-397-2020.On the Self-Calibration of Aerodynamic Coefficients in Vehicle Dynamic Model-Based Navigation
Drones. 2020-07-12. DOI : 10.3390/drones4030032.On the calibration aspects of MEMS-IMUs used in micro UAVs for sensor orientation
2020-06-09. IEEE-ION Position Location and Navigation Symposium (PLANS), Portland, Oregon, April 20-23, 2020. DOI : 10.1109/PLANS46316.2020.9110160.Wavelet-Based Moment-Matching Techniques for Inertial Sensor Calibration
IEEE Transactions on Instrumentation and Measurement. 2020-04-08. DOI : 10.1109/TIM.2020.2984820.On the adjustment, calibration and orientation of drone photogrammetry and laser-scanning
Lausanne, EPFL, 2020. DOI : 10.5075/epfl-thesis-7826.Fusion of Photo with Airborne Laser Scanning
2020. XXIV ISPRS Congress (2020 edition), [Virtual event], August 31 - September 2, 2020. p. 173-180. DOI : 10.5194/isprs-annals-V-1-2020-173-2020.Mapping quality prediction for RTK/PPK-equipped micro-drones operating in complex natural environment
ISPRS Journal of Photogrammetry and Remote Sensing. 2020. DOI : 10.1016/j.isprsjprs.2020.05.015.Biogeoinformatics for the management of Farm Animal Genetic Resources (FAnGR)
Lausanne, EPFL, 2020. DOI : 10.5075/epfl-thesis-7147.Camera Calibration Models and Methods for Corridor Mapping with UAVs
2020. International Society for Photogrammetry and Remote Sensing, Virtual, Septembre 1-2, 2020. p. 231-238. DOI : 10.5194/isprs-annals-V-1-2020-231-2020.Assessment of Real-World Running With Lab-Validated Algorithms Based on Foot-Worn Inertial Sensors
Lausanne, EPFL, 2020. DOI : 10.5075/epfl-thesis-7436.UAV based photogrammetry for snow height determination with GNSS/INS assisted aerial control
2019-10-05Optimal Stochastic Sensor Error Modeling based on Actual Impact on Quality of GNSS-INS Integrated Navigation
2019-09-20. ION GNSS , Miami, Florida, US, September 16-20, 2019. p. 2566-2574. DOI : 10.33012/2019.17057.On raw inertial measurements in dynamic networks
ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences. 2019-05-29. DOI : 10.5194/isprs-annals-IV-2-W5-549-2019.Introducing Vehicle Dynamic Models in Dynamic Networks for Navigation in UAVs
2019-01-26Sensitivity to Time Delays in VDM-Based Navigation
Drones. 2019-01-14. DOI : 10.3390/drones3010011.Insect-Inspired Visual Perception for Flight Control and Collision Avoidance
Lausanne, EPFL, 2019. DOI : 10.5075/epfl-thesis-9316.Calibration Aspects of INS Navigation
Lausanne, EPFL, 2019. DOI : 10.5075/epfl-thesis-9357.VDM-based UAV Attitude Determination in Absence of IMU Data
2018-08-13. 2018 European Navigation Conference (ENC), Gothenburg, Sweden, May 14-17, 2018. p. 84-90. DOI : 10.1109/EURONAV.2018.8433243.Assessment of VDM-based autonomous navigation of a UAV under operational conditions
Robotics and Autonomous Systems. 2018-05-17. DOI : 10.1016/j.robot.2018.05.007.Construction of dynamically-dependent stochastic error models
IEEE/ION Position, Location and Navigation Symposium (PLANS 2018), Monterey, CA, USA, 23-26 April 2018.Construction of Dynamically-Dependent Stochastic Error Models
2018-01-01. IEEE/ION Position, Location and Navigation Symposium (PLANS), Monterey, CA, Apr 23-26, 2018. p. 1336-1341. DOI : 10.1109/PLANS.2018.8373524.Use of a New Online Calibration Platform With Applications to Inertial Sensors
IEEE AEROSPACE AND ELECTRONIC SYSTEMS MAGAZINE. 2018. DOI : 10.1109/MAES.2018.170153.Tightly Coupled GNSS/INS Integration based on Robust M-Estimators
2018. p. 1554-1561. DOI : 10.1109/PLANS.2018.8373551.A Method of Airborne Gravimetry by Combining Strapdown Inertial and New Satellite Observations via Dynamic Networks
INTERNATIONAL SYMPOSIUM ON EARTH AND ENVIRONMENTAL SCIENCES FOR FUTURE GENERATIONS. 2018. DOI : 10.1007/1345_2016_229.Airborne Hyperspectral Imaging of Lakes
Lausanne, EPFL, 2018. DOI : 10.5075/epfl-thesis-8543.Vehicle Dynamic Model Based Navigation for Small UAVs
EPFL, 2018. DOI : 10.5075/epfl-thesis-8494.Parameter Estimation with GNSS-Reflectometry and GNSS Synthetic Aperture Techniques
Lausanne, EPFL, 2018. DOI : 10.5075/epfl-thesis-8350.An overview of a new sensor calibration platform
2017-08-01. 4th IEEE International Workshop on Metrology for AeroSpace (MetroAeroSpace 2017), Padua, Italy, June 21-23, 2017. p. 364-368. DOI : 10.1109/MetroAeroSpace.2017.7999598.An Overview of a New Sensor Calibration Platform
4th IEEE International Workshop on Metrology for Aerosapce, Padua, Italy, June 21 - 23, 2017.Bundle adjustment with raw inertial observations
ISPRS Journal of Photogrammetry and Remote Sensing. 2017-05-23. DOI : 10.1016/j.isprsjprs.2017.05.008.Parameter Determination of Sensor Stochastic Models under Covariate Dependency
European Geosciences Union General Assembly, Vienna, Austria, April 8 - 13, 2018.Research online: Robust tightly coupled GNSS/INS estimation for navigation
GPS World. 2017.Performance assessment of integrated sensor orientation with a low-cost GNSS receiver
ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences. 2017. DOI : 10.5194/isprs-annals-IV-2-W3-75-2017.Robust Tightly Coupled GNSS/INS Estimation for Navigation in Challenging Scenarios
2017. European Navigation Conference (ENC 2017), Lausanne, Switzerland, May 9-12.Innovation vs Residual KF Based GNSS/INS Autonomous Integrity Monitoring in Single Fault Scenario
2017. ION GNSS 2017, Portland, Oregon, USA, September 26-29, 2017. p. 2126-2136.Positioning Autonomy of a Fixed-Wing UAV through VDM/INS Integration with Experimental Results
2017. p. 2332-2337.Accuracy Prediction in Aerial Mapping
2017Vision-Based Sense and Avoid Algorithms for Unmanned Aerial Vehicles
Lausanne, EPFL, 2017. DOI : 10.5075/epfl-thesis-8043.Integrated Sensor Orientation on Micro Aerial Vehicles
Lausanne, EPFL, 2017. DOI : 10.5075/epfl-thesis-7530.Time synchronization of consumer cameras on Micro Aerial Vehicles
Isprs Journal of Photogrammetry and Remote Sensing. 2017. DOI : 10.1016/j.isprsjprs.2016.11.009.Erhöhte Zuverlässigkeit der GPS Drohnennavigation dank einem integrierten Barometer
AHORN 2016 – der Alpenraum und seine Herausforderungen im Bereich Orientierung, Navigation und Informationsaustausch, Garmisch-Partenkirchen, 17.-18. November 2016.Autonomous and non-autonomous dynamic model based navigation system for unmanned vehicles
US9978285 ; EP3308234 ; US2016364990 ; WO2016198958 . 2016.Application Of Vehicle Dynamic Modeling In Uavs For Precise Determination Of Exterior Orientation
2016. p. 827-831. DOI : 10.5194/isprsarchives-XLI-B3-827-2016.Applicability Of New Approaches Of Sensor Orientation To Micro Aerial Vehicles
2016. 23rd ISPRS Congress, Prague, Czech Republic, July 12-19, 2016. p. 441-447. DOI : 10.5194/isprsannals-III-3-441-2016.Accurate Optical Target Pose Determination For Applications In Aerial Photogrammetry
2016. 23rd ISPRS Congress, Prague, CZECH REPUBLIC, JUL 12-19, 2016. p. 257-262. DOI : 10.5194/isprsannals-III-3-257-2016.Autonomous Vehicle Dynamic Model-Based Navigation for Small UAVs
Navigation-Journal of the Institute of Navigation. 2016. DOI : 10.1002/navi.140.Autonomous Navigation Of Small Uavs Based On Vehicle Dynamic Model
2016. p. 117-122. DOI : 10.5194/isprsarchives-XL-3-W4-117-2016.Evaluation of Wind Effects on UAV Autonomous Navigation Based on Vehicle Dynamic Model
2016. p. 1432-1440.UAV Sensor Orientation with Pre-calibrated Redundant IMU/GNSS Observations: Preliminary Results
36te Dreiländertagung Photogrammetrie and Fernerkundung der SGPF, DGPF und OVG, Bern, June 7-9, 2016.UAV Sensor Orientation with Pre-calibrated Redundant IMU/GNSS Observations: Preliminary Results
2016. 36te Dreiländertagung Photogrammetrie and Fernerkundung der SGPF, DGPF und OVG, Bern, Switzerland, June 7-9, 2016. p. 26-33.Beyond Allan Variance - GMWM Framework For Sensor Calibration
Invited presentation at Department of Geomatics Engineering, The University of Calgary, Alberta, Canada, August 27, 2015.Progress in airborne gravimetry by combining strapdown inertial and new satellite observations via dynamic networks
26th IUGG General Assembly, IAG Symposia, Prague, Czech Republic, June 22 - July 2, 2015.An inertial sensor calibration platform to estimate and select error models
2015. IAIN World Congress 2015, Prague, Czech Republic, October 20-23, 2015. p. 1-4. DOI : 10.1109/IAIN.2015.7352255.Drohne für ein hoch genaues Korridor-Mapping
AHORN 2015 – der Alpenraum und seine Herausforderungen im Bereich Orientierung, Navigation und Informationsaustausch, Wildhaus, November 26-27,2015.Automatic Identification and Calibration of Stochastic Parameters in Inertial Sensors
Navigation-Journal Of The Institute Of Navigation. 2015. DOI : 10.1002/navi.119.An Approach for Observing and Modeling Errors in MEMS-Based Inertial Sensors Under Vehicle Dynamic
Ieee Transactions On Instrumentation And Measurement. 2015. DOI : 10.1109/Tim.2015.2444239.Automatic and computationally efficient method for model selection in inertial sensor calibration
2015. ION GNSS , September 14-18.A computationally efficient platform for inertial sensor calibration
2015. ION GNSS , Tampa, Florida, USA, September 14-18.Position accuracy with redundant MEMS IMU for road applications
European Journal of Navigation. 2015.Photogrammetric Mission Planner for RPAS
2015. UAV-g, Toronto, Canada, August 30-September 2, 2015. p. 61-65. DOI : 10.5194/isprsarchives-XL-1-W4-61-2015.Fixed-wing Micro Aerial Vehicle for Accurate Corridor Mapping
2015. UAV-g, Toronto, Canada, August 30-September 2, 2015. p. 23-31. DOI : 10.5194/isprsannals-II-1-W1-23-2015.Planificateur de missions photogrammétriques pour drones ultra-légers (Micro Aerial Vehicle MAV)
Géomatique Suisse. 2015.Prediction of phase ambiguity resolution based on signal intensity and geometry
Gps Solutions. 2015. DOI : 10.1007/s10291-014-0406-4.Position Accuracy with Redundant MEMS IMU for Road Applications
2015. European Navigation Conference GNSS, Bordeaux, France, April 7-10, 2015.Generalized Method of Wavelet Moments for Inertial Navigation Filter Design
IEEE Transactions on Aerospace and Electronic Systems. 2014. DOI : 10.1109/Taes.2014.120751.Satellite Positioning for Sport-Performance Analysis: Challenges & Responses
International Sport Convention 2014, Geneva, Switzerland, December 10-11, 2014.Ein Mikroflugzeug zur genauen Kartierung ohne Passpunkte am Boden
Géomatique Suisse. 2014.High-Precision Geomonitoring using Micro Aerial Vehicles
2014. Deltas: Genesis, Dynamics, Modelling and Sustainable Development, Istomino, Republic of Buryatia. Russian Federation, July 21-25, 2014.A Micro Aerial Vehicle with Precise Position and Attitude Sensors
Photogrammetrie, Fernerkundung, Geoinformation (PFG). 2014. DOI : 10.1127/1432-8364/2014/0220.Sensor Orientation on Micro Aerial Vehicles
Swiss GEOSummit meeting, Workshop "Facts & Trends: Nutzung von Drohnen in der Schweiz, Bern, Switzerland, June 6, 2014.Mapping with MAV: Experimental Study on the Contribution of Absolute and Relative Aerial Position Control
2014. European Calibration and Orientation Workshop, Castelldefels, Spain, February 12-14, 2014. p. 123-129.Robust Autonomous Flight in Unstructured Environments
Lausanne, EPFL, 2014. DOI : 10.5075/epfl-thesis-6072.Autarktic and inertial measurement based low-cost reconstruction of motorcycle forward speed
2013. ENC-GNSS, Vienna (Austria), 2013.Challenges & solutions in sensor orientation
Fall Meeting of The Swiss Society of Photogrammetry and Remote Sensing (SSPT), EPFL, Lausanne, Switzerland, November 28, 2013.A Micro-Uav with the Capability of Direct Georeferencing
2013. UAV-g, Rostock, Germany, September 4-6, 2013. p. 317-323. DOI : 10.5194/isprsarchives-XL-1-W2-317-2013.Wavelet-variance-based estimation for composite stochastic processes
Journal of the American Statistical Association. 2013. DOI : 10.1080/01621459.2013.799920.Automated Reconstruction of Curvilinear Networks from 2D and 3D Imagery
Lausanne, EPFL, 2013. DOI : 10.5075/epfl-thesis-5933.An algorithm for automatic inertial sensor calibration
2013. ION GNSS , Nashville, Tennessee, USA, September 16-20, 2013.Soil Moisture & Snow Properties Determination with GNSS in Alpine Environments: Challenges, Status, and Perspectives
Remote Sensing. 2013. DOI : 10.3390/rs5073516.Advanced Algorithmic and Architecture Designs for Future Satellite Navigation Receivers
Lausanne, EPFL, 2013. DOI : 10.5075/epfl-thesis-5770.Models and Algorithms for Ultra-Wideband Localization in Single- and Multi-Robot Systems
Lausanne, EPFL, 2013. DOI : 10.5075/epfl-thesis-5746.Autarktic and Inertial Measurements based Low-cost Reconstruction of Motorcycle forward Speed
2013. ENC GNSS 2013, Vienna, Austria, April 23-25, 2013.Modeling and Processing Approaches for Integrated Inertial Navigation
Lausanne, EPFL, 2013. DOI : 10.5075/epfl-thesis-5601.Automated approach for rigorous light detection and ranging system calibration without preprocessing and strict terrain coverage requirements
Optical Engineering. 2012. DOI : 10.1117/1.Oe.51.7.076201.SEARCHING LOST PEOPLE WITH UAVS: THE SYSTEM AND RESULTS OF THE CLOSE-SEARCH PROJECT
2012. XXII Congress of the International Society for Photogrammetry and Remote Sensing, , Melbourne, Australia, August 25 - September 1, 2012. p. 441-446.Fault Detection and Isolation in Multiple MEMS-IMUs Configurations
Ieee Transactions On Aerospace And Electronic Systems. 2012. DOI : 10.1109/TAES.2012.6237576.Drones to the Rescue!
Inside GNSS. 2012.A Framework for Inertial Sensor Calibration Using Complex Stochastic Error Models
2012. ION/IEEE PLANS, Session A5, Myrtle Beach, SC, USA, April 2012. p. 849-861. DOI : 10.1109/PLANS.2012.6236827.Automated Assessment of Digital Terrain Models Derived From Airborne Laser Scanning
PFG. 2012. DOI : 10.1127/1432-8364/2012/0105.Data Capture and Geosensor Networks
Springer Handbook of Geographic Information; Springer, 2012. p. 8.1-8.88.Integrity Aspects of Hybrid EGNOS-based Navigation on Support of Search And-Rescue Missions with UAVs
2011. ION GNSS 2011, Portland, Oregon, USA, September 19-23, 2011. p. 8.Improving Modeling of MEMS-IMUs Operating in GNSS-denied Conditions
2011. ION GNSS 2011, Portland, Oregon, USA, September 19-23, 2011. p. 10.MAV-based real-time localisation of terrestrial targets with cm-level accuracy: Feasibility study
2011. UAV-g 2011 - Unmanned Aerial Vehicle in Geomatics, Zurich, Switzerland, September 14-16, 2011.Rigorous Integration of Inertial Navigation with Optical Sensors by Dynamic Networks
Journal of Navigation. 2011.Constrained expectation-maximization algorithm for stochastic inertial error modeling: study of feasibility
Measurement Science and Technology. 2011. DOI : 10.1088/0957-0233/22/8/085204.Teaching & PhD
Teaching
Environmental Sciences and Engineering
PhD Programs
Doctoral Program in Civil and Environmental Engineering
Doctoral program in robotics, control, and intelligent systems
PhD Students
Garcia Crespillo Omar, Joseph Paul Kenneth, Lahaye Jesse Ray Murray, Laupré Gabriel François, Longobardi Pasquale, Sharma Aman,Past EPFL PhD Students
Barbieux Kevin Sylvain , Clausen Philipp , Clédat Emmanuel Pierre Quentin , Khaghani Mehran , Rehak Martin , Schär Philipp , Stebler Yannick , Wägli Adrian ,Courses
Inference for large-scale time series with application to sensor fusion
Large-scale time series analysis is performed by a new statistical tool that is superior to other estimators of complex state-space models. The identified stochastic dependences can be used for sensor fusion by Bayesian (e.g. Kalman) filtering or for studying changes in natural/biological phenomena.Robotics practicals
The practicals can include the following topics:
- Teaching Robots to Accomplish a Manipulation Task
- Experimenting with haptic interfaces
- Controlling a serial robot ABB IRB 120
- Control of the Micro Delta Direct Drive robot
- LiniX, linear axis, assembly and control