Hard-Lite SLAM: A Hybrid Detector Based Real-Time SLAM System. - Chengying Cai; Jichao Jiao; Wei Xu; Min Pang; Jianye Dong (ICIAI, 2022)

EgoVM: Achieving Precise Ego-Localization using Lightweight Vectorized Maps. - Yuzhe He; Shuang Liang; Xiaofei Rui; Chengying Cai; Guowei Wan (IROS, 2024)

RTMap: Real-Time Recursive Mapping with Change Detection and Localization. - Yuheng Du; Sheng Yang; Lingxuan Wang; Zhenghua Hou; Chengying Cai; Zhitao Tan; Mingxia Chen; Shi-Sheng Huang; Qiang Li (CoRR, 2025)