A point-based rendering approach for real-time interaction on mobile devices Science in China Series F-Information Sciences 52, 1335 (2009); Real-time camera tracking using hybrid features in mobile augmented reality SCIENCE CHINA Information Sciences 58, 112111 (2015); 2.5-dimensional angle potential field algorithm for the real-time autonomous navigation of outdoor mobile robots SCIENCE CHINA Information Sciences 54, 2100 (2011); VNet: A Versatile Network to Train Real-Time Semantic Segmentation Models on a Single GPU SCIENCE CHINA Information Sciences. RESEARCH PAPER .