Journal Articles


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.


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.


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.

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.


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, p. 24-38. DOI : 10.1016/j.isprsjprs.2020.05.015.

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.


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.

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.

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.

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.


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.

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. 


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.


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.


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


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.


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.

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.


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.

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.

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.


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.


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.

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.


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.

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.

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.


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.



SaPPART Guidelines, Performance assessment of positioning terminal

F. Peyret; P-Y. Gilliéron 

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


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

F. Peyret; P-Y. Gilliéron 

Lyon, France: IFSTTAR, 2017.



VDM-based navigation for Delta-wing UAVs: Models, calibration, implementation

P. Longobardi / J. Skaloud (Dir.)  

Lausanne, EPFL, 2024. 


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. 


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. 


Calibration Aspects of INS Navigation

P. Clausen / J. Skaloud (Dir.)  

Lausanne, EPFL, 2019. 


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. 


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. 



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.



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.


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.


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.



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

P-Y. Gilliéron; C. Rosenthaler 




Multichromatic calibration method and device

D. Constantin; S. De Visscher 

US11226232; US2020264046; EP3688424; WO2019064195.


Student Projects


Development of a Flying Wing UAV and Stochastic Component Characterization of the Dahu4NAV R-IMU

E. Chelly 



Suivi des hauteurs de neige pour une rénovation ciblée de paravalanches

L. Ducrey 


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

A. Andreetti 



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

S. Schiess 


Introducing Vehicle Dynamic Models in Dynamic Networks for Navigation in UAVs

K. Joseph Paul 



Mise en réseau des espaces publics par la mobilité piétonne

D. Moreau 


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