[1] Research on omni-directional camera with the propety of equal optical flow for equal range-to-axis and its application on UAV navigation, NSFC61071219, National Science Foundation of China, 2011-2013;

[2] Multi-sensor fusion based obstacle detection for mobile robots under complex off-road environments, NSFC60505017, National Science Foundation of China, 2006-2008;

[3] Vision based navigation and control for lunar rover, NSFC60534070 (Key Projects), National Science Foundation of China, 2006-2009;

[4] Development on motion model based individual navigation tools , 2009C33118, Department of Science and Technology of Zhejiang Province, 2009-2011