Two-stage cubature Kalman filter for nonlinear system with random bias. - Lu Zhang; Meilei Lv; Zhuyun Niu; Wenbi Rao (MFI, 2014)

Relative sensor registration with two-step method for state estimation. - Quanbo Ge; Tianxiang Chen; Zhansheng Duan; Mingxin Liu; Zhuyun Niu (Cogn. Comput. Syst., 2019)