An improved SLAM algorithm based on feature contour extraction for camera pose estimation. - Jian Zhang; Kengdong Lu; Kaiqing Luo (CISP-BMEI, 2020)

Robust Edge-Direct Visual Odometry based on CNN edge detection and Shi-Tomasi corner optimization. - Kengdong Lu; Jintao Cheng; Yubin Zhou; Juncan Deng; Rui Fan 001; Kaiqing Luo (ROBIO, 2021)