Written 3 books, published more than 50 articles, authorized 2 invention patents, and accepted 5 invention patents. Army, Dong Xiaorui. Introduction to 3D Computer Vision Technology and 20 Algorithms, National Defense Industry Press, 2014.10 Army, Wang Xiaoling. Linear system theory, Harbin Engineering University Press, 2006.10 Optimization method and optimal control, Harbin Engineering University Press, 2006.12 Jun Lu,* Zhongtao Peng, Hang Su, and GuiHua Xia. Registration algorithm of point clouds based on multiscale normal features. Journal of Electronic Imaging, 2015. 24(1): 013037-1-12 (SCI) Lu Jun, Li Jijiang, Wang Chengcheng, Xia Guihua. Accurate and fast phase unwrapping algorithm based on structural edges, Optoelectronics·Laser, 2015.26(1) :122-129 (EI) Jun Lu, Hang Su. Fast phase unwrapping algorithm based on region partition for structured light vision measurement. Optical Engineering, 2014.53(4) (SCI) Lu Jun, Peng Zhongtao. Iterative interpolation FPFH feature point cloud registration algorithm , Journal of National University of Defense Technology, 2014.36(6):12-17 (EI)