Effective cubature FastSLAM: SLAM with Rao-Blackwellized particle filter and cubature rule for Gaussian weighted integral. - Yu Song; Qingling Li; Yifei Kang; Deli Yan (Adv. Robotics, 2013)

Invariant Cubature Kalman Filter for Monocular Visual Inertial Odometry with Line Features. - Deli Yan; Chunhui Wu; Weiming Wang; Yu Song; Shaohua Li (CoRR, 2019)

Illumination Robust Loop Closure Detection with the Constraint of Pose. - Deli Yan; Wenkun Tuo; Weiming Wang; Shaohua Li (CoRR, 2019)

A Speedy Point Cloud Registration Method Based on Region Feature Extraction in Intelligent Driving Scene. - Deli Yan; Weiwang Wang; Shaohua Li; Pengyue Sun; Weiqi Duan; Sixuan Liu (Sensors, 2023)