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Consistent Sparsification for Graph Optimization. Proc of European Conference on Mobile Robots (ECMR).. 2013.
Analytically-Selected Multi- Hypothesis Incremental MAP Estimation. International Conference on Acoustics, Speech, and Signal Processing.. 2013.
Optimal-state-constraint EKF for visual-inertial navigation. Robotics Research. :125–139.. 2018.
Towards Consistent Visual-Inertial Navigation. International Conference on Robotics and Automation (ICRA).. 2014.
Consistent Unscented Incremental Smoothing for Multi-robot Cooperative Target Tracking. Robotics and Autonomous Systems. 69. 2015.
Unscented iSAM: A Consistent Incremental Solution to Cooperative Localization and Target Tracking. Proc of European Conference on Mobile Robots (ECMR).. 2013.