SuperPointVO: A Lightweight Visual Odometry based on CNN Feature Extraction. - Xiao Han 014; Yulin Tao; Zhuyi Li; Ruping Cen; Fangzheng Xue (CACRE, 2020)

Temporal delay estimation of sparse direct visual inertial odometry for mobile robots. - Ruping Cen; Xinyue Zhang; Yulin Tao; Fangzheng Xue; Yuxin Zhang (J. Frankl. Inst., 2020)

ORB-SLAM2S: A Fast ORB-SLAM2 System with Sparse Optical Flow Tracking. - Yufeng Diao; Ruping Cen; Fangzheng Xue; Xiaojie Su (ICACI, 2021)

3D Mapping Based IMU Loosely Coupled Model For Autonomous Robot. - Ruping Cen; Shimin Liu; Fangzheng Xue (ISR, 2021)

A low-cost visual inertial odometry for mobile vehicle based on double stage Kalman filter. - Ruping Cen; Tao Jiang 018; Yaoyao Tan; Xiaojie Su; Fangzheng Xue (Signal Process., 2022)

A distributed algorithm for the multi-robot minimum time task allocation problem. - Qing Zhang; Yujuan Wang; Ruping Cen (Ind. Robot, 2025)