Visual navigation of an autonomous robot using white line recognition. - Huaming Li; Changhai Xu; Sionglin Xiao; Xinhe Xu (ICRA, 2003)

Ray-based Color Image Segmentation. - Changhai Xu; Yong Jae Lee; Benjamin Kuipers (CRV, 2008)

3D pose estimation for planes. - Changhai Xu; Benjamin Kuipers; Aniket Murarka (ICCV Workshops, 2009)

Towards the Object Semantic Hierarchy. - Changhai Xu; Benjamin Kuipers (ICDL, 2010)

Object Detection Using Principal Contour Fragments. - Changhai Xu; Benjamin Kuipers (CRV, 2011)

Motion Segmentation by Learning Homography Matrices from Motor Signals. - Changhai Xu; Jingen Liu; Benjamin Kuipers (CRV, 2011)

Real-time indoor scene understanding using Bayesian filtering with motion cues. - Grace Tsai; Changhai Xu; Jingen Liu; Benjamin Kuipers (ICCV, 2011)

Moving Object Segmentation Using Motor Signals. - Changhai Xu; Jingen Liu; Benjamin Kuipers (ECCV (5), 2012)