Robotics & Multimodal Autonomy (RoMA) Lab at University College London

Research

At RoMA, our research focuses on developing foundation models for next-generation robotics. Our work spans multiple domains including computer vision, SLAM, sensor fusion, and deep learning.

Highlighted

Fast ECoT: Efficient Embodied Chain-of-Thought via Thoughts Reuse
Fast ECoT: Efficient Embodied Chain-of-Thought via Thoughts Reuse
Zhekai Duan, Yuan Zhang, Shikai Geng, Gaowen Liu, Joschka Boedecker, Chris Xiaoxuan Lu
CoRR  ·  15 Jun 2025  ·  doi:10.48550/ARXIV.2506.07639
Efficient embodied reasoning through thought reuse, enabling faster decision-making in robotic applications.
RadarOcc: Robust 3D Occupancy Prediction with 4D Imaging Radar
RadarOcc: Robust 3D Occupancy Prediction with 4D Imaging Radar
Fangqiang Ding, Xiangyu Wen, Yunzhou Zhu, Yiming Li, Chris Xiaoxuan Lu
NeurIPS  ·  22 May 2024  ·  doi:10.48550/arXiv.2405.14014
A novel approach for robust 3D occupancy prediction using 4D imaging radar, advancing autonomous driving perception in challenging conditions.
Self-adapting Large Visual-Language Models to Edge Devices Across Visual Modalities
Self-adapting Large Visual-Language Models to Edge Devices Across Visual Modalities
Kaiwen Cai, Zhekai Duan, Gaowen Liu, Charles Fleming, Chris Xiaoxuan Lu
ECCV 2024  ·  29 Sep 2024  ·  doi:10.1007/978-3-031-73390-1_18
Adapting large vision-language models for efficient deployment on edge devices across different visual modalities.

All

2025

VISC: mmWave Radar Scene Flow Estimation using Pervasive Visual-Inertial Supervision
Kezhong Liu, Yiwen Zhou, Mozi Chen, Jianhua He, Jingao Xu, Zheng Yang, Chris Xiaoxuan Lu, Shengkai Zhang
2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  ·  19 Oct 2025  ·  doi:10.1109/IROS60139.2025.11246830
ThermoHands: A Benchmark for 3D Hand Pose Estimation from Egocentric Thermal Images
Fangqiang Ding, Yunzhou Zhu, Xiangyu Wen, Gaowen Liu, Chris Xiaoxuan Lu
Proceedings of the 23rd ACM Conference on Embedded Networked Sensor Systems  ·  06 May 2025  ·  doi:10.1145/3715014.3722058
Risk Controlled Image Retrieval
Kaiwen Cai, Chris Xiaoxuan Lu, Xingyu Zhao, Wei Huang, Xiaowei Huang
Proceedings of the AAAI Conference on Artificial Intelligence  ·  11 Apr 2025  ·  doi:10.1609/aaai.v39i26.34931
Learning Selective Sensor Fusion for State Estimation
Changhao Chen, Stefano Rosa, Chris Xiaoxuan Lu, Bing Wang, Niki Trigoni, Andrew Markham
IEEE Transactions on Neural Networks and Learning Systems  ·  01 Mar 2025  ·  doi:10.1109/TNNLS.2022.3176677
M4Human: A Large-Scale Multimodal mmWave Radar Benchmark for Human Mesh Reconstruction
Junqiao Fan, Yunjiao Zhou, Yizhuo Yang, Xinyuan Cui, Jiarui Zhang, Lihua Xie, Jianfei Yang, Chris Xiaoxuan Lu, Fangqiang Ding
arXiv  ·  01 Jan 2025  ·  doi:10.48550/arXiv.2512.12378
Attentive Feature Aggregation or: How Policies Learn to Stop Worrying about Robustness and Attend to Task-Relevant Visual Cues
Nikolaos Tsagkas, Andreas Sochopoulos, Duolikun Danier, Sethu Vijayakumar, Alexandros Kouris, Oisin Mac Aodha, Chris Xiaoxuan Lu
arXiv  ·  01 Jan 2025  ·  doi:10.48550/arXiv.2511.10762
Fast ECoT: Efficient Embodied Chain-of-Thought via Thoughts Reuse
Zhekai Duan, Yuan Zhang, Shikai Geng, Gaowen Liu, Joschka Boedecker, Chris Xiaoxuan Lu
arXiv  ·  01 Jan 2025  ·  doi:10.48550/arXiv.2506.07639
The Temporal Trap: Entanglement in Pre-Trained Visual Representations for Visuomotor Policy Learning
Nikolaos Tsagkas, Andreas Sochopoulos, Duolikun Danier, Chris Xiaoxuan Lu, Oisin Mac Aodha
arXiv  ·  01 Jan 2025  ·  doi:10.48550/arXiv.2502.03270

2024

Deep Learning for Visual Localization and Mapping: A Survey
Changhao Chen, Bing Wang, Chris Xiaoxuan Lu, Niki Trigoni, Andrew Markham
IEEE Transactions on Neural Networks and Learning Systems  ·  01 Dec 2024  ·  doi:10.1109/TNNLS.2023.3309809
milliFlow: Scene Flow Estimation on mmWave Radar Point Cloud for Human Motion Sensing
Fangqiang Ding, Zhen Luo, Peijun Zhao, Chris Xiaoxuan Lu
Lecture Notes in Computer Science  ·  03 Nov 2024  ·  doi:10.1007/978-3-031-72691-0_12
Click to Grasp: Zero-Shot Precise Manipulation via Visual Diffusion Descriptors
Nikolaos Tsagkas, Jack Rome, Subramanian Ramamoorthy, Oisin Mac Aodha, Chris Xiaoxuan Lu
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  ·  14 Oct 2024  ·  doi:10.1109/IROS58592.2024.10801488
Forecasting backdraft with multimodal method: Fusion of fire image and sensor data
Tianhang Zhang, Fangqiang Ding, Zilong Wang, Fu Xiao, Chris Xiaoxuan Lu, Xinyan Huang
Engineering Applications of Artificial Intelligence  ·  01 Jun 2024  ·  doi:10.1016/j.engappai.2024.107939
Multimodal Indoor Localization Using Crowdsourced Radio Maps
Zhaoguang Yi, Xiangyu Wen, Qiyue Xia, Peize Li, Francisco Zampella, Firas Alsehly, Chris Xiaoxuan Lu
2024 IEEE International Conference on Robotics and Automation (ICRA)  ·  13 May 2024  ·  doi:10.1109/ICRA57147.2024.10610683
Robust 3D Object Detection from LiDAR-Radar Point Clouds via Cross-Modal Feature Augmentation
Jianning Deng, Gabriel Chan, Hantao Zhong, Chris Xiaoxuan Lu
2024 IEEE International Conference on Robotics and Automation (ICRA)  ·  13 May 2024  ·  doi:10.1109/ICRA57147.2024.10610775
RaTrack: Moving Object Detection and Tracking with 4D Radar Point Cloud
Zhijun Pan, Fangqiang Ding, Hantao Zhong, Chris Xiaoxuan Lu
2024 IEEE International Conference on Robotics and Automation (ICRA)  ·  13 May 2024  ·  doi:10.1109/ICRA57147.2024.10610368
End-to-End Target Liveness Detection via mmWave Radar and Vision Fusion for Autonomous Vehicles
Shuai Wang, Luoyu Mei, Zhimeng Yin, Hao Li, Ruofeng Liu, Wenchao Jiang, Chris Xiaoxuan Lu
ACM Transactions on Sensor Networks  ·  11 May 2024  ·  doi:10.1145/3628453
Introduction to the Special Section on Contact-free Smart Sensing in AIoT
Pengfei Hu, Zhe Chen, Chris Xiaoxuan Lu, Xuyu Wang, Jun Luo, Prasant Mohapatra
ACM Transactions on Sensor Networks  ·  11 May 2024  ·  doi:10.1145/3639406
Robust Metric Localization in Autonomous Driving via Doppler Compensation With Single-Chip Radar
Pengen Gao, Shengkai Zhang, Wei Wang, Chris Xiaoxuan Lu
IEEE Transactions on Intelligent Transportation Systems  ·  01 Jan 2024  ·  doi:10.1109/TITS.2023.3305487

2023

Orientation-Aware 3D SLAM in Alternating Magnetic Field from Powerlines
Rongrong Wang, Rui Tan, Zhenyu Yan, Chris Xiaoxuan Lu
Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies  ·  19 Dec 2023  ·  doi:10.1145/3631446
Poster Abstract: Multimodal Indoor Localization Using Crowdsourced Radio Maps
Xiangyu Wen, Zhaoguang Yi, Francisco Zampella, Firas Alsehly, Chris Xiaoxuan Lu
Proceedings of the 21st ACM Conference on Embedded Networked Sensor Systems  ·  12 Nov 2023  ·  doi:10.1145/3625687.3628398
Feature-based Visual Odometry for Bronchoscopy: A Dataset and Benchmark
Jianning Deng, Peize Li, Kevin Dhaliwal, Chris Xiaoxuan Lu, Mohsen Khadem
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  ·  01 Oct 2023  ·  doi:10.1109/IROS55552.2023.10342034
RADA: Robust Adversarial Data Augmentation for Camera Localization in Challenging Conditions
Jialu Wang, Muhamad Risqi U. Saputra, Chris Xiaoxuan Lu, Niki Trigoni, Andrew Markham
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  ·  01 Oct 2023  ·  doi:10.1109/IROS55552.2023.10341653
CubeLearn: End-to-End Learning for Human Motion Recognition From Raw mmWave Radar Signals
Peijun Zhao, Chris Xiaoxuan Lu, Bing Wang, Niki Trigoni, Andrew Markham
IEEE Internet of Things Journal  ·  15 Jun 2023  ·  doi:10.1109/JIOT.2023.3237494
Hidden Gems: 4D Radar Scene Flow Learning Using Cross-Modal Supervision
Fangqiang Ding, Andras Palffy, Dariu M. Gavrila, Chris Xiaoxuan Lu
2023 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)  ·  01 Jun 2023  ·  doi:10.1109/CVPR52729.2023.00901
Uncertainty Estimation for 3D Dense Prediction via Cross-Point Embeddings
Kaiwen Cai, Chris Xiaoxuan Lu, Xiaowei Huang
IEEE Robotics and Automation Letters  ·  01 May 2023  ·  doi:10.1109/LRA.2023.3256085
Human Parsing with Joint Learning for Dynamic mmWave Radar Point Cloud
Shuai Wang, Dongjiang Cao, Ruofeng Liu, Wenchao Jiang, Tianshun Yao, Chris Xiaoxuan Lu
Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies  ·  27 Mar 2023  ·  doi:10.1145/3580779
SenseFi: A library and benchmark on deep-learning-empowered WiFi human sensing
Jianfei Yang, Xinyan Chen, Han Zou, Chris Xiaoxuan Lu, Dazhuo Wang, Sumei Sun, Lihua Xie
Patterns  ·  01 Mar 2023  ·  doi:10.1016/j.patter.2023.100703
Differentiable Radio Frequency Ray Tracing for Millimeter-Wave Sensing
Xingyu Chen, Xinyu Zhang, Qiyue Xia, Xinmin Fang, Chris Xiaoxuan Lu, Zhengxiong Li
arXiv  ·  01 Jan 2023  ·  doi:10.48550/arXiv.2311.13182
Risk Controlled Image Retrieval
Kaiwen Cai, Chris Xiaoxuan Lu, Xingyu Zhao, Xiaowei Huang
arXiv  ·  01 Jan 2023  ·  doi:10.48550/arXiv.2307.07336
VL-Fields: Towards Language-Grounded Neural Implicit Spatial Representations
Nikolaos Tsagkas, Oisin Mac Aodha, Chris Xiaoxuan Lu
arXiv  ·  01 Jan 2023  ·  doi:10.48550/arXiv.2305.12427
GaitFi: Robust Device-Free Human Identification via WiFi and Vision Multimodal Learning
Lang Deng, Jianfei Yang, Shenghai Yuan, Han Zou, Chris Xiaoxuan Lu, Lihua Xie
IEEE Internet of Things Journal  ·  01 Jan 2023  ·  doi:10.1109/JIOT.2022.3203559

2022

Telesonar
Zhenyu Yan, Rui Tan, Qun Song, Chris Xiaoxuan Lu
Proceedings of the 20th ACM Conference on Embedded Networked Sensor Systems  ·  06 Nov 2022  ·  doi:10.1145/3560905.3568500
STUN: Self-Teaching Uncertainty Estimation for Place Recognition
Kaiwen Cai, Chris Xiaoxuan Lu, Xiaowei Huang
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  ·  23 Oct 2022  ·  doi:10.1109/IROS47612.2022.9981546
OdomBeyondVision: An Indoor Multi-modal Multi-platform Odometry Dataset Beyond the Visible Spectrum
Peize Li, Kaiwen Cai, Muhamad Risqi U. Saputra, Zhuangzhuang Dai, Chris Xiaoxuan Lu
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  ·  23 Oct 2022  ·  doi:10.1109/IROS47612.2022.9981865
Pedestrian Liveness Detection Based on mmWave Radar and Camera Fusion
Hao Li, Ruofeng Liu, Shuai Wang, Wenchao Jiang, Chris Xiaoxuan Lu
2022 19th Annual IEEE International Conference on Sensing, Communication, and Networking (SECON)  ·  20 Sep 2022  ·  doi:10.1109/SECON55815.2022.9918553
Cross Vision-RF Gait Re-identification with Low-cost RGB-D Cameras and mmWave Radars
Dongjiang Cao, Ruofeng Liu, Hao Li, Shuai Wang, Wenchao Jiang, Chris Xiaoxuan Lu
Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies  ·  06 Sep 2022  ·  doi:10.1145/3550325
Self-Supervised Scene Flow Estimation With 4-D Automotive Radar
Fangqiang Ding, Zhijun Pan, Yimin Deng, Jianning Deng, Chris Xiaoxuan Lu
IEEE Robotics and Automation Letters  ·  01 Jul 2022  ·  doi:10.1109/LRA.2022.3187248
Graph-Based Thermal–Inertial SLAM With Probabilistic Neural Networks
Muhamad Risqi U. Saputra, Chris Xiaoxuan Lu, Pedro Porto B. Porto Buarque de Gusmao, Bing Wang, Andrew Markham, Niki Trigoni
IEEE Transactions on Robotics  ·  01 Jun 2022  ·  doi:10.1109/TRO.2021.3120036
DC-Loc: Accurate Automotive Radar Based Metric Localization with Explicit Doppler Compensation
Pengen Gao, Shengkai Zhang, Wei Wang, Chris Xiaoxuan Lu
2022 International Conference on Robotics and Automation (ICRA)  ·  23 May 2022  ·  doi:10.1109/ICRA46639.2022.9811561
AutoPlace: Robust Place Recognition with Single-chip Automotive Radar
Kaiwen Cai, Bing Wang, Chris Xiaoxuan Lu
2022 International Conference on Robotics and Automation (ICRA)  ·  23 May 2022  ·  doi:10.1109/ICRA46639.2022.9811869
Demo Abstract: 3D Simultaneous localization and Mapping with Power Network Electromagnetic Radiation
Rongrong Wang, Zhenyu Yan, Yuting Wu, Rui Tan, Chris Xiaoxuan Lu
2022 21st ACM/IEEE International Conference on Information Processing in Sensor Networks (IPSN)  ·  01 May 2022  ·  doi:10.1109/IPSN54338.2022.00046

2021

DynaNet: Neural Kalman Dynamical Model for Motion Estimation and Prediction
Changhao Chen, Chris Xiaoxuan Lu, Bing Wang, Niki Trigoni, Andrew Markham
IEEE Transactions on Neural Networks and Learning Systems  ·  01 Dec 2021  ·  doi:10.1109/TNNLS.2021.3112460
Motion Tracklet Oriented 6-DoF Inertial Tracking Using Commodity Smartphones
Peize Li, Chris Xiaoxuan Lu
Proceedings of the 19th ACM Conference on Embedded Networked Sensor Systems  ·  15 Nov 2021  ·  doi:10.1145/3485730.3494116
Can Image Style Transfer Save Automotive Radar?
Jianning Deng, Kaiwen Cai, Chris Xiaoxuan Lu
Proceedings of the 19th ACM Conference on Embedded Networked Sensor Systems  ·  15 Nov 2021  ·  doi:10.1145/3485730.3492888
P2-Net: Joint Description and Detection of Local Features for Pixel and Point Matching
Bing Wang, Changhao Chen, Zhaopeng Cui, Jie Qin, Chris Xiaoxuan Lu, …, Peijun Zhao, Zhen Dong, Fan Zhu, Niki Trigoni, Andrew Markham
2021 IEEE/CVF International Conference on Computer Vision (ICCV)  ·  01 Oct 2021  ·  doi:10.1109/ICCV48922.2021.01570
3D Motion Capture of an Unmodified Drone with Single-chip Millimeter Wave Radar
Peijun Zhao, Chris Xiaoxuan Lu, Bing Wang, Niki Trigoni, Andrew Markham
2021 IEEE International Conference on Robotics and Automation (ICRA)  ·  30 May 2021  ·  doi:10.1109/ICRA48506.2021.9561738
Human tracking and identification through a millimeter wave radar
Peijun Zhao, Chris Xiaoxuan Lu, Jianan Wang, Changhao Chen, Wei Wang, Niki Trigoni, Andrew Markham
Ad Hoc Networks  ·  01 May 2021  ·  doi:10.1016/j.adhoc.2021.102475
Deep Neural Network Based Inertial Odometry Using Low-Cost Inertial Measurement Units
Changhao Chen, Chris Xiaoxuan Lu, Johan Wahlstrom, Andrew Markham, Niki Trigoni
IEEE Transactions on Mobile Computing  ·  01 Apr 2021  ·  doi:10.1109/TMC.2019.2960780

2020

Indoor positioning system in visually-degraded environments with millimetre-wave radar and inertial sensors
Zhuangzhuang Dai, Muhamad Risqi U. Saputra, Chris Xiaoxuan Lu, Niki Trigoni, Andrew Markham
Proceedings of the 18th Conference on Embedded Networked Sensor Systems  ·  16 Nov 2020  ·  doi:10.1145/3384419.3430421
milliEgo
Chris Xiaoxuan Lu, Muhamad Risqi U. Saputra, Peijun Zhao, Yasin Almalioglu, Pedro P. B. de Gusmao, Changhao Chen, Ke Sun, Niki Trigoni, Andrew Markham
Proceedings of the 18th Conference on Embedded Networked Sensor Systems  ·  16 Nov 2020  ·  doi:10.1145/3384419.3430776
See through smoke
Chris Xiaoxuan Lu, Stefano Rosa, Peijun Zhao, Bing Wang, Changhao Chen, John A. Stankovic, Niki Trigoni, Andrew Markham
Proceedings of the 18th International Conference on Mobile Systems, Applications, and Services  ·  15 Jun 2020  ·  doi:10.1145/3386901.3388945
Heart Rate Sensing with a Robot Mounted mmWave Radar
Peijun Zhao, Chris Xiaoxuan Lu, Bing Wang, Changhao Chen, Linhai Xie, Mengyu Wang, Niki Trigoni, Andrew Markham
2020 IEEE International Conference on Robotics and Automation (ICRA)  ·  01 May 2020  ·  doi:10.1109/ICRA40945.2020.9197437
Deep-Learning-Based Pedestrian Inertial Navigation: Methods, Data Set, and On-Device Inference
Changhao Chen, Peijun Zhao, Chris Xiaoxuan Lu, Wei Wang, Andrew Markham, Niki Trigoni
IEEE Internet of Things Journal  ·  01 May 2020  ·  doi:10.1109/JIOT.2020.2966773
Nowhere to Hide: Cross-modal Identity Leakage between Biometrics and Devices
Chris Xiaoxuan Lu, Yang Li, Yuanbo Xiangli, Zhengxiong Li
Proceedings of The Web Conference 2020  ·  20 Apr 2020  ·  doi:10.1145/3366423.3380108
AtLoc: Attention Guided Camera Localization
Bing Wang, Changhao Chen, Chris Xiaoxuan Lu, Peijun Zhao, Niki Trigoni, Andrew Markham
Proceedings of the AAAI Conference on Artificial Intelligence  ·  03 Apr 2020  ·  doi:10.1609/aaai.v34i06.6608
DeepTIO: A Deep Thermal-Inertial Odometry With Visual Hallucination
Muhamad Risqi U. Saputra, Pedro P. B. de Gusmao, Chris Xiaoxuan Lu, Yasin Almalioglu, Stefano Rosa, Changhao Chen, Johan Wahlstrom, Wei Wang, Andrew Markham, Niki Trigoni
IEEE Robotics and Automation Letters  ·  01 Apr 2020  ·  doi:10.1109/LRA.2020.2969170

2019

Autonomous Learning of Speaker Identity and WiFi Geofence From Noisy Sensor Data
Chris Xiaoxuan Lu, Yuanbo Xiangli, Peijun Zhao, Changhao Chen, Niki Trigoni, Andrew Markham
IEEE Internet of Things Journal  ·  01 Oct 2019  ·  doi:10.1109/JIOT.2019.2926645
iSCAN
Yuanbo Xiangli, Chris Xiaoxuan Lu, Peijun Zhao, Changhao Chen, Andrew Markham
Adjunct Proceedings of the 2019 ACM International Joint Conference on Pervasive and Ubiquitous Computing and Proceedings of the 2019 ACM International Symposium on Wearable Computers  ·  09 Sep 2019  ·  doi:10.1145/3341162.3344858
MotionTransformer: Transferring Neural Inertial Tracking between Domains
Changhao Chen, Yishu Miao, Chris Xiaoxuan Lu, Linhai Xie, Phil Blunsom, Andrew Markham, Niki Trigoni
Proceedings of the AAAI Conference on Artificial Intelligence  ·  17 Jul 2019  ·  doi:10.1609/aaai.v33i01.33018009
Selective Sensor Fusion for Neural Visual-Inertial Odometry
Changhao Chen, Stefano Rosa, Yishu Miao, Chris Xiaoxuan Lu, Wei Wu, Andrew Markham, Niki Trigoni
2019 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)  ·  01 Jun 2019  ·  doi:10.1109/CVPR.2019.01079
Autonomous Learning for Face Recognition in the Wild via Ambient Wireless Cues
Chris Xiaoxuan Lu, Xuan Kan, Bowen Du, Changhao Chen, Hongkai Wen, Andrew Markham, Niki Trigoni, John Stankovic
The World Wide Web Conference  ·  13 May 2019  ·  doi:10.1145/3308558.3313398
mID: Tracking and Identifying People with Millimeter Wave Radar
Peijun Zhao, Chris Xiaoxuan Lu, Jianan Wang, Changhao Chen, Wei Wang, Niki Trigoni, Andrew Markham
2019 15th International Conference on Distributed Computing in Sensor Systems (DCOSS)  ·  01 May 2019  ·  doi:10.1109/DCOSS.2019.00028
Efficient Indoor Positioning with Visual Experiences via Lifelong Learning
Hongkai Wen, Ronald Clark, Sen Wang, Xiaoxuan Lu, Bowen Du, Wen Hu, Niki Trigoni
IEEE Transactions on Mobile Computing  ·  01 Apr 2019  ·  doi:10.1109/TMC.2018.2852645
Semantic Place Understanding for Human–Robot Coexistence—Toward Intelligent Workplaces
Stefano Rosa, Andrea Patane, Chris Xiaoxuan Lu, Niki Trigoni
IEEE Transactions on Human-Machine Systems  ·  01 Apr 2019  ·  doi:10.1109/THMS.2018.2875079
HydraDoctor
Bowen Du, Chris Xiaoxuan Lu, Xuan Kan, Kai Wu, Man Luo, Jianfeng Hou, Kai Li, Salil Kanhere, Yiran Shen, Hongkai Wen
Proceedings of the 20th International Conference on Distributed Computing and Networking  ·  04 Jan 2019  ·  doi:10.1145/3288599.3288635

2018

Automatic Face Recognition Adaptation via Ambient Wireless Identifiers
Chris Xiaoxuan Lu, Peijun Zhao, Bowen Du, Hongkai Wen, Andrew Markham, Stefano Rosa, Niki Trigoni
Proceedings of the 16th ACM Conference on Embedded Networked Sensor Systems  ·  04 Nov 2018  ·  doi:10.1145/3274783.3275191
Simultaneous Localization and Mapping with Power Network Electromagnetic Field
Chris Xiaoxuan Lu, Yang Li, Peijun Zhao, Changhao Chen, Linhai Xie, Hongkai Wen, Rui Tan, Niki Trigoni
Proceedings of the 24th Annual International Conference on Mobile Computing and Networking  ·  15 Oct 2018  ·  doi:10.1145/3241539.3241540
Deepauth
Chris Xiaoxuan Lu, Bowen Du, Peijun Zhao, Hongkai Wen, Yiran Shen, Andrew Markham, Niki Trigoni
Proceedings of the 2018 ACM International Symposium on Wearable Computers  ·  08 Oct 2018  ·  doi:10.1145/3267242.3267252
CommonSense
Stefano Rosa, Andrea Patanè, Xiaoxuan Lu, Niki Trigoni
Proceedings of the 1st International Workshop on Internet of People, Assistive Robots and Things  ·  10 Jun 2018  ·  doi:10.1145/3215525.3215526
Learning 3D Scene Semantics and Structure from a Single Depth Image
Bo Yang, Zihang Lai, Xiaoxuan Lu, Shuyu Lin, Hongkai Wen, Andrew Markham, Niki Trigoni
2018 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops (CVPRW)  ·  01 Jun 2018  ·  doi:10.1109/CVPRW.2018.00069
IONet: Learning to Cure the Curse of Drift in Inertial Odometry
Changhao Chen, Xiaoxuan Lu, Andrew Markham, Niki Trigoni
Proceedings of the AAAI Conference on Artificial Intelligence  ·  26 Apr 2018  ·  doi:10.1609/aaai.v32i1.12102
Snoopy
Chris Xiaoxuan Lu, Bowen Du, Hongkai Wen, Sen Wang, Andrew Markham, Ivan Martinovic, Yiran Shen, Niki Trigoni
Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies  ·  08 Jan 2018  ·  doi:10.1145/3161196

2017

Towards Self-supervised Face Labeling via Cross-modality Association
Chris Xiaoxuan Lu, Xuan Kan, Stefano Rosa, Bowen Du, Hongkai Wen, Andrew Markham, Niki Trigoni
Proceedings of the 15th ACM Conference on Embedded Network Sensor Systems  ·  06 Nov 2017  ·  doi:10.1145/3131672.3136991
VeriNet
Chris Xiaoxuan Lu, Bowen Du, Xuan Kan, Hongkai Wen, Andrew Markham, Niki Trigoni
Proceedings of the First ACM Workshop on Mobile Crowdsensing Systems and Applications  ·  06 Nov 2017  ·  doi:10.1145/3139243.3139251
SCAN
Chris Xiaoxuan Lu, Hongkai Wen, Sen Wang, Andrew Markham, Niki Trigoni
Proceedings of the 16th ACM/IEEE International Conference on Information Processing in Sensor Networks  ·  18 Apr 2017  ·  doi:10.1145/3055031.3055073
Leveraging User Activities and Mobile Robots for Semantic Mapping and User Localization
Stefano Rosa, Xiaoxuan Lu, Hongkai Wen, Niki Trigoni
Proceedings of the Companion of the 2017 ACM/IEEE International Conference on Human-Robot Interaction  ·  06 Mar 2017  ·  doi:10.1145/3029798.3038343

2016

Robust occupancy inference with commodity WiFi
Xiaoxuan Lu, Hongkai Wen, Han Zou, Hao Jiang, Lihua Xie, Niki Trigoni
2016 IEEE 12th International Conference on Wireless and Mobile Computing, Networking and Communications (WiMob)  ·  01 Oct 2016  ·  doi:10.1109/WiMOB.2016.7763228
Standardizing location fingerprints across heterogeneous mobile devices for indoor localization
Han Zou, Baoqi Huang, Xiaoxuan Lu, Hao Jiang, Lihua Xie
2016 IEEE Wireless Communications and Networking Conference  ·  01 Apr 2016  ·  doi:10.1109/WCNC.2016.7564800
BlueDetect: An iBeacon-Enabled Scheme for Accurate and Energy-Efficient Indoor-Outdoor Detection and Seamless Location-Based Service
Han Zou, Hao Jiang, Yiwen Luo, Jianjie Zhu, Xiaoxuan Lu, Lihua Xie
Sensors  ·  22 Feb 2016  ·  doi:10.3390/s16020268
A Robust Indoor Positioning System Based on the Procrustes Analysis and Weighted Extreme Learning Machine
Han Zou, Baoqi Huang, Xiaoxuan Lu, Hao Jiang, Lihua Xie
IEEE Transactions on Wireless Communications  ·  01 Feb 2016  ·  doi:10.1109/TWC.2015.2487963
Robust Extreme Learning Machine With its Application to Indoor Positioning
Xiaoxuan Lu, Han Zou, Hongming Zhou, Lihua Xie, Guang-Bin Huang
IEEE Transactions on Cybernetics  ·  01 Jan 2016  ·  doi:10.1109/TCYB.2015.2399420

2015

A mutual information based online access point selection strategy for WiFi indoor localization
Han Zou, Yiwen Luo, Xiaoxuan Lu, Hao Jiang, Lihua Xie
2015 IEEE International Conference on Automation Science and Engineering (CASE)  ·  01 Aug 2015  ·  doi:10.1109/CoASE.2015.7294059
A Fast and Precise Indoor Localization Algorithm Based on an Online Sequential Extreme Learning Machine
Han Zou, Xiaoxuan Lu, Hao Jiang, Lihua Xie
Sensors  ·  15 Jan 2015  ·  doi:10.3390/s150101804

2014

Extreme learning machine with dead zone and its application to WiFi based indoor positioning
Xiaoxuan Lu, Chengpu Yu, Han Zou, Hao Jiang, Lihua Xie
2014 13th International Conference on Control Automation Robotics & Vision (ICARCV)  ·  01 Dec 2014  ·  doi:10.1109/ICARCV.2014.7064376
Robust extreme learning machine for regression problems with its application to wifi based indoor positioning system
Xiaoxuan Lu, Yushen Long, Han Zou, Chengpu Yu, Lihua Xie
2014 IEEE International Workshop on Machine Learning for Signal Processing (MLSP)  ·  01 Sep 2014  ·  doi:10.1109/MLSP.2014.6958903
An online sequential extreme learning machine approach to WiFi based indoor positioning
Han Zou, Hao Jiang, Xiaoxuan Lu, Lihua Xie
2014 IEEE World Forum on Internet of Things (WF-IoT)  ·  01 Mar 2014  ·  doi:10.1109/WF-IoT.2014.6803130