Null-space-based marginalization: Analysis and algorithm. - Yulin Yang; James Maley; Guoquan Huang 001 (IROS, 2017)

Unit Quaternion-Based Parameterization for Point Features in Visual Navigation. - James Maley; Guoquan Huang 001 (IROS, 2018)

An Efficient Schmidt-EKF for 3D Visual-Inertial SLAM. - Patrick Geneva; James Maley; Guoquan Huang 001 (CVPR, 2019)