- Yan Lu and Dezhen Song, "Visual Navigation Using Heterogeneous Landmarks and Unsupervised Geometric Constraints", IEEE Transactions on Robotics (T-RO), vol. 31, no. 3, June 2015, pp. 736 – 749. [Download from IEEE]
- Yan Lu, Dezhen Song, and Jingang Yi.
"High Level Landmark-Based Visual Navigation Using Unsupervised Geometric Constraints in Local Bundle Adjustment",
IEEE International Conference on Robotics and Automation (ICRA), 2014
- Yan Lu, Dezhen Song, Yiliang Xu, A. G. Amitha Perera and Sang Min Oh.
"Automatic Building Exterior Mapping Using Multilayer Feature Graphs",
IEEE International Conference on Automation Science and Engineering (CASE), 2013
- Haifeng Li, Dezhen Song, Yan Lu, and Jingtai Liu.
"A Two-View based Multilayer Feature Graph for Robot Navigation",
IEEE International Conference on Robotics and Automation (ICRA), 2012