A primary travelling assistant system of bus detection and recognition for visually impaired people. - Hangrong Pan; Chucai Yi; Yingli Tian (ICME Workshops, 2013)

RGB-D image-based detection of stairs, pedestrian crosswalks and traffic signs. - Shuihua Wang; Hangrong Pan; Chenyang Zhang 001; Yingli Tian (J. Vis. Commun. Image Represent., 2014)