Tactile Recognition of Algebraic Shapes using Differential Invariants. - Rinat Ibrayev; Yan-Bin Jia (ICRA, 2004)

Semi-Differential Invariants for Recognition of Albebraic Curves. - Yan-Bin Jia; Rinat Ibrayev (WAFR, 2004)

Semidifferential Invariants for Tactile Recognition of Algebraic Curves. - Rinat Ibrayev; Yan-Bin Jia (Int. J. Robotics Res., 2005)

Surface Recognition by Registering Data Curves from Touch. - Rinat Ibrayev; Yan-Bin Jia (IROS, 2006)

Recognition of Curved Surfaces From "One-Dimensional" Tactile Data. - Rinat Ibrayev; Yan-Bin Jia (IEEE Trans Autom. Sci. Eng., 2012)