Bearing-only Landmark Initialization by using SUF with Undistorted SIFT Features. - Xiang Wang 008; Hong Zhang 013 (ICRA, 2006)

Good Image Features for Bearing-only SLAM. - Xiang Wang 008; Hong Zhang 013 (IROS, 2006)

A UPF-UKF Framework For SLAM. - Xiang Wang 008; Hong Zhang 013 (ICRA, 2007)