| 2025 | IROS | A Two-Stage Swarm Planning Framework for Efficient Multi-Drone Waypoint Traversal. | Kailun Cui, Fenghua He, Ning Hao, Hao Hu |
| 2025 | IROS | Approximate Convex Decomposition-based Whole-Body Trajectory Optimization for Robots in Dense Environments. | Linao Gong, Fenghua He, Ning Hao |
| 2024 | IROS | Consistent Distributed Cooperative Localization: A Coordinate Transformation Approach. | Chungeng Tian, Ning Hao, Fenghua He, Haodi Yao |
| 2024 | ICRA | 17-Point Algorithm Revisited: Toward a More Accurate Way. | Chen Xie, Rui Xing, Ning Hao, Fenghua He |
| 2024 | ICRA | EdgePoint: Efficient Point Detection and Compact Description via Distillation. | Haodi Yao, Ning Hao, Chen Xie, Fenghua He |
| 2023 | ICRA | Obstacle-Aware Topological Planning over Polyhedral Representation for Quadrotors. | Junjie Gao, Fenghua He, Wei Zhang, Yu Yao |
| 2023 | IROS | KD-EKF: A Consistent Cooperative Localization Estimator Based on Kalman Decomposition. | Ning Hao, Fenghua He, Chungeng Tian, Yu Yao, Weilong Xia |
| 2008 | GMP | 3D Mesh Segmentation Using Mean-Shifted Curvature. | Xi Zhang, Guiqing Li, Yunhui Xiong, Fenghua He |
| 2002 | ICARCV | H | Xia Zhao, Yu Yao, Fenghua He, Fanwei Meng |