SD-VIS: A Fast and Accurate Semi-Direct Monocular Visual-Inertial Simultaneous Localization and Mapping (SLAM). - Quanpan Liu; Zhengjie Wang; Huan Wang (Sensors, 2020)

PC-SD-VIO: A constant intensity semi-direct monocular visual-inertial odometry with online photometric calibration. - Quanpan Liu; Zhengjie Wang; Huan Wang (Robotics Auton. Syst., 2021)