Publications

Journal Articles

2023

Model-based constraints for trajectory determination of quad-copters: Design, calibration & merits for direct orientation

K. Joseph Paul; D. A. Cucci; J. Skaloud 

ISPRS Open Journal of Photogrammetry and Remote Sensing. 2023-01-24. Vol. 7, num. January, p. 100030. DOI : 10.1016/j.ophoto.2023.100030.

2022

On the benefit of concurrent adjustment of active and passive optical sensors with GNSS & raw inertial data

K. Mouzakidou; D. A. Cucci; J. Skaloud 

ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences. 2022-06-02. Vol. V-1-2022, p. 161-168. DOI : 10.5194/isprs-annals-V-1-2022-161-2022.

Lidar point-to-point correspondences for rigorous registration of kinematic scanning in dynamic networks

A. Brun; D. A. Cucci; J. Skaloud 

ISPRS Journal of Photogrammetry and Remote Sensing. 2022-05-19. Vol. 189, p. 185-200. DOI : 10.1016/j.isprsjprs.2022.04.027.

Wind Estimation with Multirotor UAVs

K. Meier; R. Hann; J. Skaloud; A. Garreau 

Atmosphere. 2022-03-29. Vol. 13, num. 4, p. 1-23, 551. DOI : 10.3390/atmos13040551.

UAV in the advent of the twenties: Where we stand and what is next

F. Nex; C. Armenakis; M. Cramer; D. A. Cucci; M. Gerke et al. 

ISPRS Journal of Photogrammetry and Remote Sensing. 2022. Vol. 184, p. 215-242. DOI : 10.1016/j.isprsjprs.2021.12.006.

2021

Model Based Navigation of Delta-Wing UAV – In-Flight Calibration and Autonomous Performance

G. F. Laupré; P. Longobardi; J. Skaloud; J-C. Charlaix 

European Journal of Navigation. 2021-02-28. Vol. 21, num. 1, p. 22-30.

Fixed-wing micro UAV open data with digicam and raw INS/GNSS

J. Skaloud; D. A. Cucci; K. Joseph Paul 

ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences. 2021. Vol. 1-2021, p. 105-111. DOI : 10.5194/isprs-annals-V-1-2021-105-2021.

2020

On the Self-Calibration of Aerodynamic Coefficients in Vehicle Dynamic Model-Based Navigation

G. F. Laupré; J. Skaloud 

Drones. 2020-07-12. Vol. 4, num. 1, p. 32. DOI : 10.3390/drones4030032.

Wavelet-Based Moment-Matching Techniques for Inertial Sensor Calibration

S. Guerrier; J. Jurando; M. Khaghani; G. Bakali; M. Karemera et al. 

IEEE Transactions on Instrumentation and Measurement. 2020-04-08. Vol. 69, num. 10, p. 7542-7551. DOI : 10.1109/TIM.2020.2984820.

Mapping quality prediction for RTK/PPK-equipped micro-drones operating in complex natural environment

E. Clédat; L. V. jospin; D. A. Cucci; J. Skaloud 

ISPRS Journal of Photogrammetry and Remote Sensing. 2020. Vol. 167 (2020), p. 24-38. DOI : 10.1016/j.isprsjprs.2020.05.015.

2019

A new method to determine multi-angular reflectance factor from lightweight multispectral cameras with sky sensor in a target-less workflow applicable to UAV

K. Schneider-Zapp; M. Cubero-Castan; D. Shi; C. Strecha 

Remote Sensing Of Environment. 2019-08-01. Vol. 229, p. 60-68. DOI : 10.1016/j.rse.2019.04.007.

On raw inertial measurements in dynamic networks

D. A. Cucci; J. Skaloud 

ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences. 2019-05-29. Vol. IV-2/W5, p. 549–557. DOI : 10.5194/isprs-annals-IV-2-W5-549-2019.

Sensitivity to Time Delays in VDM-Based Navigation

G. F. Laupré; M. Khaghani; J. Skaloud 

Drones. 2019-01-14. Vol. 3, num. 1, p. 11. DOI : 10.3390/drones3010011.

A method for improvement of mass resolution and isotope accuracy for laser ablation time-of-flight mass spectrometers

R. Wiesendanger; M. Tulej; V. Grimaudo; A. Cedeno-Lopez; R. Lukmanov et al. 

Journal Of Chemometrics. 2019-01-01. Vol. 33, num. 1, p. e3081. DOI : 10.1002/cem.3081.

2018

The Gaia-ESO Survey: properties of newly discovered Li-rich giants

R. Smiljanic; E. Franciosini; A. Bragaglia; G. Tautvaisiene; X. Fu et al. 

Astronomy & Astrophysics. 2018-09-14. Vol. 617, p. A4. DOI : 10.1051/0004-6361/201833027.

Assessment of VDM-based autonomous navigation of a UAV under operational conditions

M. Khaghani; J. Skaloud 

Robotics and Autonomous Systems. 2018-05-17. Vol. 106, num. 106, p. 152-164. DOI : 10.1016/j.robot.2018.05.007.

Use of a New Online Calibration Platform With Applications to Inertial Sensors

P. Clausen; J. Skaloud; R. Molinari; J. Lee; S. Guerrier 

IEEE AEROSPACE AND ELECTRONIC SYSTEMS MAGAZINE. 2018. Vol. 33, num. 8, p. 30-36. DOI : 10.1109/MAES.2018.170153.

Pushbroom Hyperspectral Data Orientation by Combining Feature-Based and Area-Based Co-Registration Techniques

K. Barbieux 

Remote Sensing. 2018. Vol. 10, num. 4, p. 645. DOI : 10.3390/rs10040645.

Icy lakes extraction and water-ice classification using Landsat 8 OLI multispectral data

K. Barbieux; A. Charitsi; B. Merminod 

INTERNATIONAL JOURNAL OF REMOTE SENSING. 2018. Vol. 39, num. 11, p. 3646-3678. DOI : 10.1080/01431161.2018.1447165.

Direct Georeferencing of a Pushbroom, Lightweight Hyperspectral System for Mini-UAV Applications

M. Jaud; N. Le Dantec; J. Ammann; P. Grandjean; D. Constantin et al. 

Remote Sensing. 2018. Vol. 10, num. 2, p. 204. DOI : 10.3390/rs10020204.

A Method of Airborne Gravimetry by Combining Strapdown Inertial and New Satellite Observations via Dynamic Networks

J. Skaloud; I. Colomina; M. Pares; M. Blazquez; J. Silva et al. 

INTERNATIONAL SYMPOSIUM ON EARTH AND ENVIRONMENTAL SCIENCES FOR FUTURE GENERATIONS. 2018. Vol. 147, p. 111-122. DOI : 10.1007/1345_2016_229.

2017

Bundle adjustment with raw inertial observations

D. A. Cucci; M. Rehak; J. Skaloud 

ISPRS Journal of Photogrammetry and Remote Sensing. 2017-05-23. Vol. 130, p. 1-12. DOI : 10.1016/j.isprsjprs.2017.05.008.

Research online: Robust tightly coupled GNSS/INS estimation for navigation

O. Garcia Crespillo; D. Medina; A. Grosch; J. Skaloud; M. Meurer 

GPS World. 2017. num. August, p. 35-37.

Performance assessment of integrated sensor orientation with a low-cost GNSS receiver

M. Rehak; J. Skaloud 

ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences. 2017. Vol. 4, num. 2W3, p. 75-80. DOI : 10.5194/isprs-annals-IV-2-W3-75-2017.

Safer roads GNSS: a strong position

P-Y. Gilliéron; F. Peyret; F. Fischer 

Thinking Highways; Connected North America. 2017.  p. 56-58.

Assessment of positioning accuracy of vehicle trajectories for different road applications

P. Clausen; P-Y. Gilliéron; H. Perakis; V. Gikas; I. Spyropoulou 

Iet Intelligent Transport Systems. 2017. Vol. 11, num. 3, p. 113-125. DOI : 10.1049/iet-its.2016.0049.

Time synchronization of consumer cameras on Micro Aerial Vehicles

M. Rehak; J. Skaloud 

Isprs Journal of Photogrammetry and Remote Sensing. 2017. Vol. 123, num. 1, p. 114-123. DOI : 10.1016/j.isprsjprs.2016.11.009.

2016

Autonomous Vehicle Dynamic Model-Based Navigation for Small UAVs

M. Khaghani; J. Skaloud 

Navigation-Journal of the Institute of Navigation. 2016. Vol. 63, num. 3, p. 345-358. DOI : 10.1002/navi.140.

Accurate Optical Target Pose Determination For Applications In Aerial Photogrammetry

D. A. Cucci 

ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences. 2016. Vol. 3, p. 257-262. DOI : 10.5194/isprs-annals-III-3-257-2016.

The Selenga River delta: a geochemical barrier protecting Lake Baikal waters

S. Chalov; J. Thorslund; N. Kasimov; D. Aybullatov; E. Ilyicheva et al. 

Regional Environmental Change. 2016.  p. 1-15. DOI : 10.1007/s10113-016-0996-1.

Evaluer la qualité de l’information trafic

P-Y. Gilliéron 

Route et trafic. 2016. Vol. 9/2016, num. 9, p. 26-29.

Conference Papers

2022

CrossLoc: Scalable Aerial Localization Assisted by Multimodal Synthetic Data

Q. Yan; J. Zheng; S. Reding; S. Li; I. Doytchinov 

2022-01-01. IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), New Orleans, LA, Jun 18-24, 2022. p. 17337-17347. DOI : 10.1109/CVPR52688.2022.01684.

2021

Calibration of Fixed-Wing UAV Aerodynamic Coefficients with Photogrammetry for VDM-based Navigation

G. F. Laupré; J. Skaloud 

2021-02-07. International Technical Meeting of The Institute of Navigation 2021, January 25-28, 2021. p. 775-786. DOI : 10.33012/2021.17867.

Aerodynamic characterization of a delta-wing UAV based on real flight data

P. Longobardi; G. F. Laupré; J. Skaloud 

2021. 8th International Workshop on Metrology for AeroSpace (MetroAeroSpace), Naples, Italy, June 23-25, 2021. p. 69-74. DOI : 10.1109/MetroAeroSpace51421.2021.9511742.

2020

Airborne and mobile LiDAR, which sensors for which application?

J. Vallet; A. Gressing; P. Clausen; J. Skaloud 

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 calibration aspects of MEMS-IMUs used in micro UAVs for sensor orientation

P. Clausen; J. Skaloud 

2020-06-09. IEEE-ION Position Location and Navigation Symposium (PLANS), Portland, Oregon, April 20-23, 2020. DOI : 10.1109/PLANS46316.2020.9110160.

Fusion of Photo with Airborne Laser Scanning

E. Clédat; J. Skaloud 

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.

Camera Calibration Models and Methods for Corridor Mapping with UAVs

E. Clédat; D. A. Cucci; J. Skaloud 

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.

2019

Optimal Stochastic Sensor Error Modeling based on Actual Impact on Quality of GNSS-INS Integrated Navigation

M. Khaghani; S. Guerrier; J. Skaloud; Y. Zhang 

2019-09-20. ION GNSS+, Miami, Florida, US, September 16-20, 2019. p. 2566-2574. DOI : 10.33012/2019.17057.

2018

VDM-based UAV Attitude Determination in Absence of IMU Data

M. Khaghani; J. Skaloud 

2018-08-13. 2018 European Navigation Conference (ENC), Gothenburg, Sweden, May 14-17, 2018. p. 84-90. DOI : 10.1109/EURONAV.2018.8433243.

Training in Mapping Changes on an Archaeological Site

P-Y. Gilliéron; B. Merminod; J. Zufferey 

2018-05-07. FIG Congress 2018, Istanbul, Turkey, May 6-11, 2018.

Construction of Dynamically-Dependent Stochastic Error Models

P. Clausen; J. Skaloud; S. Orso; S. Guerrier 

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.

Tightly Coupled GNSS/INS Integration based on Robust M-Estimators

O. Crespillo; D. Medina; J. Skaloud; M. Meurer 

2018.  p. 1554-1561. DOI : 10.1109/PLANS.2018.8373551.

2017

An overview of a new sensor calibration platform

P. Clausen; J. Skaloud; R. Molinari; J. Balamuta; S. Guerrier 

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.

Mapping GNSS Restricted Environment with a Drone Tandem and Indirect Position Control

E. Cledat; D. A. Cucci 

2017. International Conference on Unmanned Aerial Vehicles in Geomatics, Bonn, Germany, September 4–7, 2017. p. 1-7. DOI : 10.5194/isprs-annals-IV-2-W3-1-2017.

Robust Tightly Coupled GNSS/INS Estimation for Navigation in Challenging Scenarios

O. Garcia Crespillo; D. Medina; A. Grosch; J. Skaloud; M. Meurer 

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

O. Garcia Crespillo; A. Grosch; J. Skaloud; M. Meurer 

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

M. Khaghani; J. Skaloud 

2017.  p. 2332-2337.

2016

Application Of Vehicle Dynamic Modeling In Uavs For Precise Determination Of Exterior Orientation

M. Khaghani; J. Skaloud 

2016.  p. 827-831. DOI : 10.5194/isprsarchives-XLI-B3-827-2016.

Applicability Of New Approaches Of Sensor Orientation To Micro Aerial Vehicles

M. Rehak; J. Skaloud 

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

D. A. Cucci 

2016. 23rd ISPRS Congress, Prague, CZECH REPUBLIC, JUL 12-19, 2016. p. 257-262. DOI : 10.5194/isprsannals-III-3-257-2016.

Airborne hyperspectral sensor radiometric self-calibration using near-infrared properties of deep water and vegetation

K. Barbieux; V. Nouchi; B. Merminod 

2016. Conference on Remote Sensing of the Ocean, Sea Ice, Coastal Waters, and Large Water Regions, Edinburgh, SCOTLAND, SEP 26-27, 2016. p. 99990M. DOI : 10.1117/12.2241251.

Autonomous Navigation Of Small Uavs Based On Vehicle Dynamic Model

M. Khaghani; J. Skaloud 

2016.  p. 117-122. DOI : 10.5194/isprsarchives-XL-3-W4-117-2016.

The SaPPART COST Action: Towards positioning integrity for road transport

P-Y. Gillieron; L. Ruotsalainen; F. Peyret; S. Feng; J. Engdahl 

2016. 2016 European Navigation Conference (ENC), Helsinki, Finland, 30 May – 2 June 2016. p. 1-6. DOI : 10.1109/EURONAV.2016.7530570.

Evaluation of Wind Effects on UAV Autonomous Navigation Based on Vehicle Dynamic Model

M. Khaghani; J. Skaloud 

2016.  p. 1432-1440.

An analysis of a gyro-free inertial system for INS/GNSS navigation

D. A. Cucci; O. G. Crespillo; M. Khaghani 

2016.  p. 1-7. DOI : 10.1109/EURONAV.2016.7530560.

UAV Sensor Orientation with Pre-calibrated Redundant IMU/GNSS Observations: Preliminary Results

P. Clausen; M. Rehak; J. Skaloud 

2016. 36te Dreiländertagung Photogrammetrie and Fernerkundung der SGPF, DGPF und OVG, Bern, Switzerland, June 7-9, 2016. p. 26-33.

Books

2018

SaPPART Guidelines, Performance assessment of positioning terminal

F. Peyret; P-Y. Gilliéron 

Lyon, France: IFSTTAR, 2018-04-05.

2017

COST TU1302- SaPPART Handbook: Assessment of positioning performance in ITS applications

F. Peyret; P-Y. Gilliéron 

Lyon, France: IFSTTAR, 2017.

Theses

2022

Optimization and Real-Time Aspects of Aircraft Model-Based Navigation

G. F. Laupré / J. Skaloud (Dir.)  

Lausanne, EPFL, 2022. 

GNSS/INS Kalman Filter Integrity Monitoring with Uncertain Time Correlated Error Processes

O. Garcia Crespillo / J. Skaloud; M. Meurer (Dir.)  

Lausanne, EPFL, 2022. 

2020

On the adjustment, calibration and orientation of drone photogrammetry and laser-scanning

E. P. Q. Clédat / J. Skaloud; D. A. Cucci (Dir.)  

Lausanne, EPFL, 2020. 

2019

Calibration Aspects of INS Navigation

P. Clausen / J. Skaloud (Dir.)  

Lausanne, EPFL, 2019. 

2018

Airborne Hyperspectral Imaging of Lakes

K. S. Barbieux / B. Merminod; J. Skaloud (Dir.)  

Lausanne, EPFL, 2018. 

Vehicle Dynamic Model Based Navigation for Small UAVs

M. Khaghani / J. Skaloud (Dir.)  

EPFL, 2018. 

2017

Miniature hyperspectral systems

D. Constantin / B. Merminod; Y. Akhtman (Dir.)  

Lausanne, EPFL, 2017. 

Integrated Sensor Orientation on Micro Aerial Vehicles

M. Rehak / J. Skaloud (Dir.)  

Lausanne, EPFL, 2017. 

Posters

2017

An Overview of a New Sensor Calibration Platform

P. Clausen; S. Guerrier; J. Skaloud 

4th IEEE International Workshop on Metrology for Aerosapce, Padua, Italy, June 21 – 23, 2017.

Talks

2018

Construction of dynamically-dependent stochastic error models

P. Clausen; J. Skaloud; S. Guerrier 

IEEE/ION Position, Location and Navigation Symposium (PLANS 2018), Monterey, CA, USA, 23-26 April 2018.

2017

Parameter Determination of Sensor Stochastic Models under Covariate Dependency

J. Skaloud; P. Clausen; S. Orso; S. Guerrier 

European Geosciences Union General Assembly, Vienna, Austria, April 8 – 13, 2018.

The SaPPART COST Action: main outcomes and deliverables

P-Y. Gilliéron 

SaPPART final conference: “High Quality Positioning: a Key to Success for Autonomous Driving”, Brussels, Belgium, October 4, 2017.

2016

Erhöhte Zuverlässigkeit der GPS Drohnennavigation dank einem integrierten Barometer

P. Clausen; B. Luiset; J. Skaloud 

AHORN 2016 – der Alpenraum und seine Herausforderungen im Bereich Orientierung, Navigation und Informationsaustausch, Garmisch-Partenkirchen, 17.-18. November 2016.

Workshop on Mapping with drones for natural and built environments

P-Y. Gilliéron; S. Sayuri Sato 

6th SIMGEO Conference – Workshop on mapping with drones for the natural and built environments, Recife, Brazil, August, 24-25, 2016.

UAV Sensor Orientation with Pre-calibrated Redundant IMU/GNSS Observations: Preliminary Results

P. Clausen; J. Skaloud 

36te Dreiländertagung Photogrammetrie and Fernerkundung der SGPF, DGPF und OVG, Bern, June 7-9, 2016.

Géolocalisation et crowdsourcing pour l’information trafic

P-Y. Gilliéron 

Geosummit 2016, Bern, Suisse, 7-9 Juin 2016.

Intégration des véhicules intelligents dans un contexte multimodal

P-Y. Gilliéron; A. M. Milot 

28e Colloque Franco-Suisse; Route et trafic, Strasbourg, France, 28-29 Avril 2016.

Standards

2017

Système d’information de la route – Aperçu des concepts de repérage

P-Y. Gilliéron; C. Rosenthaler 

2017.

Patents

2019

Multichromatic calibration method and device

D. Constantin; S. De Visscher 

US11226232; US2020264046; EP3688424; WO2019064195.

2019.

Student Projects

2020

Doppler-based positioning using LEO augmented satellite constellation – Simulations of perspectives

A. Andreetti 

2020-10-05.

Suivi des hauteurs de neige pour une rénovation ciblée de paravalanches

L. Ducrey 

2020-01-17.

2019

UAV based photogrammetry for snow height determination with GNSS/INS assisted aerial control

S. Schiess 

2019-10-05.

Introducing Vehicle Dynamic Models in Dynamic Networks for Navigation in UAVs

K. Joseph Paul 

2019-01-26.

2018

Mise en réseau des espaces publics par la mobilité piétonne

D. Moreau 

2018.

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