ESA-VLAD: A Lightweight Network Based on Second-Order Attention and NetVLAD for Loop Closure Detection. - Yan Xu; Jiani Huang; Jixiang Wang; Yanyun Wang 001; Hong Qin 010; Keqin Nan (IEEE Robotics Autom. Lett., 2021)

Global-Context-Aware Visual Odometry System With Epipolar-Geometry-Constrained Loss Function. - Zhong Ji; Keqin Nan; Yan Xu; Haoyuan Wang; Xuening Li; Jiale Bai (IEEE Trans. Instrum. Meas., 2024)