NCC-RANSAC: A fast plane extraction method for navigating a smart cane for the visually impaired. - Xiangfei Qian; Cang Ye (CASE, 2013)

3D object recognition by geometric context and Gaussian-Mixture-Model-based plane classification. - Xiangfei Qian; Cang Ye (ICRA, 2014)

A Co-Robotic Cane for blind navigation. - Cang Ye; Soonhac Hong; Xiangfei Qian (SMC, 2014)

NCC-RANSAC: A Fast Plane Extraction Method for 3-D Range Data Segmentation. - Xiangfei Qian; Cang Ye (IEEE Trans. Cybern., 2014)

A Gaussian-mixture-model-based visual feature matching scheme for small-object detection from RGB-D data. - Xiangfei Qian; Xinyi Liu; Cang Ye (RCAR, 2017)