UAV Tracking with Solid-State Lidars: Dynamic Multi-Frequency Scan Integration. - Iacopo Catalano; Sier Ha; Xianjia Yu; Tomi Westerlund; Jorge Peña Queralta (ICAR, 2023)

UAV Tracking with Lidar as a Camera Sensor in GNSS-Denied Environments. - Sier Ha; Xianjia Yu; Iacopo Catalano; Jorge Peña Queralta; Zhuo Zou; Tomi Westerlund (ICL-GNSS, 2023)

Comparison of DDS, MQTT, and Zenoh in Edge-to-Edge and Edge-to-Cloud Communication for Distributed ROS 2 Systems. - Jiaqiang Zhang; Xianjia Yu; Sier Ha; Jorge Peña Queralta; Tomi Westerlund (CoRR, 2023)

A Benchmark for Multi-Modal LiDAR SLAM with Ground Truth in GNSS-Denied Environments. - Sier Ha; Qingqing Li 001; Xianjia Yu; Jorge Peña Queralta; Zhuo Zou; Tomi Westerlund (Remote. Sens., 2023)

LiDAR-Generated Images Derived Keypoints Assisted Point Cloud Registration Scheme in Odometry Estimation. - Haizhou Zhang; Xianjia Yu; Sier Ha; Tomi Westerlund (Remote. Sens., 2023)

Enhancing the Reliability of LiDAR Point Cloud Sampling: A Colorization and Super-Resolution Approach Based on LiDAR-Generated Images. - Sier Ha; Honghao Du; Xianjia Yu; Jian Song; Tomi Westerlund (CoRR, 2024)

Comparison of Middlewares in Edge-to-Edge and Edge-to-Cloud Communication for Distributed ROS 2 Systems. - Jiaqiang Zhang; Xianjia Yu; Sier Ha; Jorge Peña Queralta; Tomi Westerlund (J. Intell. Robotic Syst., 2024)

Enhancing Lidar Point Cloud Sampling via Colorization and Super-Resolution of Lidar Imagery. - Sier Ha; Honghao Du; Xianjia Yu; Tomi Westerlund (CoRR, 2025)

Lidar Variability: A Novel Dataset and Comparative Study of Solid-State and Spinning Lidars. - Doumegna Mawuto Koudjo Felix; Xianjia Yu; Jiaqiang Zhang; Sier Ha; Zhuo Zou; Tomi Westerlund (CoRR, 2025)