Embedding manifold structures into Kalman filters. - Dongjiao He; Wei Xu 028; Fu Zhang 002 (CoRR, 2021)

Robots' State Estimation and Observability Analysis Based on Statistical Motion Models. - Wei Xu 028; Dongjiao He; Yixi Cai; Fu Zhang 002 (IEEE Trans. Control. Syst. Technol., 2022)

FAST-LIO2: Fast Direct LiDAR-Inertial Odometry. - Wei Xu 028; Yixi Cai; Dongjiao He; Jiarong Lin; Fu Zhang 002 (IEEE Trans. Robotics, 2022)

HALO: A Safe, Coaxial, and Dual-Ducted UAV Without Servo. - Haotian Li; Nan Chen; Fanze Kong; Yuying Zou; Shenji Zhou; Dongjiao He; Fu Zhang 002 (IROS, 2023)

Joint Intrinsic and Extrinsic LiDAR-Camera Calibration in Targetless Environments Using Plane-Constrained Bundle Adjustment. - Liang Li; Haotian Li; Xiyuan Liu; Dongjiao He; Ziliang Miao; Fanze Kong; Rundong Li; Zheng Liu 019; Fu Zhang 002 (CoRR, 2023)

Symbolic Representation and Toolkit Development of Iterated Error-State Extended Kalman Filters on Manifolds. - Dongjiao He; Wei Xu 028; Fu Zhang 002 (IEEE Trans. Ind. Electron., 2023)

A self-rotating, single-actuated UAV with extended sensor field of view for autonomous navigation. - Nan Chen; Fanze Kong; Wei Xu 028; Yixi Cai; Haotian Li; Dongjiao He; Youming Qin; Fu Zhang 002 (Sci. Robotics, 2023)

Point-LIO: Robust High-Bandwidth Light Detection and Ranging Inertial Odometry. - Dongjiao He; Wei Xu 028; Nan Chen; Fanze Kong; Chongjian Yuan; Fu Zhang 002 (Adv. Intell. Syst., 2023)

MARS-LVIG dataset: A multi-sensor aerial robots SLAM dataset for LiDAR-visual-inertial-GNSS fusion. - Haotian Li; Yuying Zou; Nan Chen; Jiarong Lin; Xiyuan Liu; Wei Xu 028; Chunran Zheng; Rundong Li; Dongjiao He; Fanze Kong; Yixi Cai; Zheng Liu 019; et al. (Int. J. Robotics Res., 2024)

LIGO: A Tightly Coupled LiDAR-Inertial-GNSS Odometry Based on a Hierarchy Fusion Framework for Global Localization With Real-Time Mapping. - Dongjiao He; Haotian Li; Jie Yin (IEEE Trans. Robotics, 2025)

FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry. - Chunran Zheng; Wei Xu 028; Zuhao Zou; Tong Hua; Chongjian Yuan; Dongjiao He; Bingyang Zhou; Zheng Liu 019; Jiarong Lin; Fangcheng Zhu; Yunfan Ren; Rong Wang; et al. (IEEE Trans. Robotics, 2025)