publications

Only recent publications are listed here. The full list can be found in my DBLP.

preprints

    2025

    1. SenSys’25
      ThermoHands: A Benchmark for 3D Hand Pose Estimation from Egocentric Thermal Image
      Fangqiang Ding, Yunzhou Zhu, Xiangyu Wen, Gaowen Liu, and Chris Xiaoxuan Lu
      In In ACM Conference on Embedded Networked Sensor Systems 2025
      arXiv Video Code Website
    2. AAAI’2025
      Risk Controlled Image Retrieval
      Kaiwen Cai, Chris Xiaoxuan Lu, Xingyu Zhao, Wei Huang, and Xiaowei Huang
      In The AAAI Conference on Artificial Intelligence 2025
      arXiv Code

    2024

    1. AutoCons
      Automated generation and semantic segmentation of roof orthophoto for digital twin-based monitoring of slated roofs
      Jiajun Li, Boan Tao, Frédéric Bosché, Chris Xiaoxuan Lu, and Lyn Wilson
      Automation in Construction 2024
    2. EAAI
      Forecasting Backdraft with Multimodal Method: Fusion of Fire Image and Sensor Data
      Tianhang Zhang, Fangqiang Ding, Zilong Wang, Fu Xiao, Chris Xiaoxuan Lu, and Xinyan Huang
      Engineering Applications of Artificial Intelligence 2024
      HTML Video
    3. NeurIPS’24
      RadarOcc: Robust 3D Occupancy Prediction with 4D Imaging Radar
      Fangqiang Ding, Xiangyu Wen, Yunzhou Zhu, Yiming Li, and Chris Xiaoxuan Lu
      In The Thirty-eighth Conference on Neural Information Processing Systems 2024
      arXiv Video Code Website
    4. ECCV’24
      Self-Adapting Large Visual-Language Models to Edge Devices across Visual Modalities
      Kaiwen Cai, Zhekai Duan, Gaowen Liu, Charles Fleming, and Chris Xiaoxuan Lu
      In The European Conference on Computer Vision 2024
      arXiv Video Code
    5. ECCV’24
      milliFlow: Scene Flow Estimation on mmWave Radar Point Cloud for Human Motion Sensing
      Fangqiang Ding, Zhen Luo, Peijun Zhao, and Chris Xiaoxuan Lu
      In The European Conference on Computer Vision 2024
      arXiv Code
    6. ICRA’24
      Moving Object Detection and Tracking with 4D Radar Point Cloud
      Zhijun Pan, Fangqiang Ding, Hantao Zhong, and Chris Xiaoxuan Lu
      In IEEE International Conference on Robotics and Automation 2024
      arXiv Video Code
    7. ICRA’24
      Robust 3D Object Detection from LiDAR-Radar Point Clouds via Cross-Modal Feature Augmentation
      Jianning Deng, Gabriel Chan, Hantao Zhong, and Chris Xiaoxuan Lu
      In IEEE International Conference on Robotics and Automation 2024
      arXiv Video Code
    8. ICRA’24
      Multimodal Indoor Localization Using Crowdsourced Radio Maps
      Zhaoguang Yi, Xiangyu Wen, Qiyue Xia, Peize Li, Francisco Zampella, Firas Alsehly, and Chris Xiaoxuan Lu
      In IEEE International Conference on Robotics and Automation 2024
      arXiv Video
    9. IROS’24
      Click to Grasp: Zero-Shot Precise Manipulation via Visual Diffusion Descriptors
      Nikolaos Tsagkas, Jack Rome, Subramanian Ramamoorthy, Oisin Mac Aodha, and Chris Xiaoxuan Lu
      In IEEE/RSJ International Conference on Intelligent Robots and Systems 2024
      arXiv Website
    10. ISARC
      Extracting roof sub-components from orthophotos using deep-learning-based semantic segmentation
      Jiajun Li, Boan Tao, Frédéric Bosché, Chris Xiaoxuan Lu, and Lyn Wilson
      In Proceedings of the International Symposium on Automation and Robotics in Construction 2024

    2023

    1. TNNLS
      Deep Learning for Visual Localization and Mapping: A Survey
      Changhao Chen, Bing Wang, Chris Xiaoxuan Lu, Niki Trigoni, and Andrew Markham
      IEEE Transactions on Neural Networks and Learning Systems 2023
      arXiv
    2. RA-L
      Uncertainty Estimation for 3D Dense Prediction via Cross-Point Embeddings
      Kaiwen Cai, Chris Xiaoxuan Lu, and Xiaowei Huang
      IEEE Robotics Autom. Lett. (RA-L) 2023
      arXiv Video Code
    3. Patterns
      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, and Lihua Xie
      Patterns 2023
      arXiv Code
    4. IoT-J
      CubeLearn: End-to-end Learning for Human Motion Recognition from Raw mmWave Radar Signals
      Peijun Zhao, Chris Xiaoxuan Lu, Bing Wang, Niki Trigoni, and Andrew Markham
      IEEE Internet of Things Journal 2023
      arXiv Code
    5. IMWUT
      Human Parsing with Joint Learning for Dynamic mmWave Radar Point Cloud
      Shuai Wang, Dongjiang Cao, Ruofeng Liu, Wenchao Jiang, Tianshun Yao, and Chris Xiaoxuan Lu
      Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies 2023
      PDF
    6. CVPR’23
      Hidden Gems: 4D Radar Scene Flow Learning Using Cross-Modal Supervision
      Fangqiang Ding, Andras Palffy, Dariu M. Gavrila, and Chris Xiaoxuan Lu
      In IEEE Conference on Computer Vision and Pattern Recognition 2023
      CVPR’23 Highlight
      arXiv Video Code Website
    7. NeurIPS’23
      MM-Fi: Multi-Modal Non-Intrusive 4D Human Dataset for Versatile Wireless Sensing
      Jianfei Yang, He Huang, Yunjiao Zhou, Xinyan Chen, Yuecong Xu, Shenghai Yuan, Han Zou, Chris Xiaoxuan Lu, and Lihua Xie
      In Thirty-seventh Conference on Neural Information Processing Systems (Datasets and Benchmarks Track) 2023
      arXiv Code Website
    8. EWSN’23
      Robust Human Detection under Visual Degradation via Thermal and mmWave Radar Fusion
      Kaiwen Cai, Qiyue Xia, Peize Li, John A. Stankovic, and Chris Xiaoxuan Lu
      In International Conference on Embedded Wireless Systems and Networks 2023
      arXiv Video Code
    9. IROS’23
      RADA: Robust Adversarial Data Augmentation for Camera Localization in Challenging Weather
      Jialu Wang, Muhamad Risqi Utama Saputra, Chris Xiaoxuan Lu, Niki Trigoni, and Andrew Markham
      In IEEE/RSJ International Conference on Intelligent Robots and Systems 2023
      arXiv
    10. IROS’23
      Feature-based Visual Odometry for Bronchoscopy: A Dataset and Benchmark
      Jianning Deng, Peize Li, Kev Dhaliwal, Chris Xiaoxuan Lu, and Mohsen Khadem
      In IEEE/RSJ International Conference on Intelligent Robots and Systems 2023
      PDF
    11. NDSS’23
      MetaWave: Attacking mmWave Sensing with Meta-material-enhanced Tags
      Xingyu Chen, Zhengxiong Li, Baicheng Chen, Yi Zhu, Chris Xiaoxuan Lu, Zhengyu Peng, Feng Lin, Wenyao Xu, Kui Ren, and Chunming Qiao
      In 30th Annual Network and Distributed System Security Symposium 2023
      PDF
    12. ISARC
      Occlusion-free Orthophoto Generation for Building Roofs Using UAV Photogrammetric Reconstruction and Digital Twin Data
      Jiajun Li, Frédéric Bosché, Chris Xiaoxuan Lu, and Lyn Wilson
      In 40th International Symposium on Automation and Robotics in Construction 2023
    13. ICRA-W’23
      VL-Fields: Towards Language-Grounded Neural Implicit Spatial Representations
      Nikolaos Tsagkas, Oisin Mac Aodha, and Chris Xiaoxuan Lu
      In ICRA Workshop on effective Representations, Abstractions, and Priors for Robot Learning 2023
      arXiv Website

    2022

    1. T-RO
      Graph-Based Thermal–Inertial SLAM With Probabilistic Neural Networks
      Muhamad Risqi U. Saputra, Chris Xiaoxuan Lu, Pedro Porto B. Gusmao, Bing Wang, Andrew Markham, and Niki Trigoni
      IEEE Transactions on Robotics 2022
      arXiv Video Code
    2. TNNLS
      Learning Selective Sensor Fusion for States Estimation
      Changhao Chen, Chris Xiaoxuan Lu, Bing Wang, Niki Trigoni, and Andrew Markham
      IEEE Trans. Neural Networks Learn. Syst. 2022
      arXiv
    3. RA-L/IROS
      Self-Supervised Scene Flow Estimation with 4D Automotive Radar
      Fangqiang Ding, Zhijun Pan, Yimin Deng, Jianning Deng, and Chris Xiaoxuan Lu
      IEEE Robotics Autom. Lett. (RA-L) / IEEE International Conference on Intelligent Robots and Systems (IROS) 2022
      arXiv Video Code
    4. IMWUT
      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, and Chris Xiaoxuan Lu
      Proc. ACM Interact. Mob. Wearable Ubiquitous Technol. (IMWUT) / International Joint Conference on Pervasive and Ubiquitous Computing (UbiComp) 2022
      arXiv
    5. IoT-J
      GaitFi: Robust Device-Free Human Identification via WiFi and Vision Multimodal Learning
      Lang Deng, Jianfei Yang, Shenghai Yuan, Han Zou, Chris Xiaoxuan Lu, and Lihua Xie
      IEEE Internet of Things Journal 2022
      arXiv
    6. SenSys’22
      Telesonar: Robocall Alarm System by Detecting Echo Channel and Breath Timing
      Zhenyu Yan, Rui Tan, Qun Song, and Chris Xiaoxuan Lu
      In ACM Conference on Embedded Networked Sensor Systems (SenSys) 2022
      PDF
    7. IROS’22
      STUN: Self-Teaching Uncertainty Estimation for Place Recognition
      Kaiwen Cai, Chris Xiaoxuan Lu, and Xiaowei Huang
      In IEEE International Conference on Intelligent Robots and Systems (IROS) 2022
      arXiv Code
    8. IROS’22
      OdomBeyondVision: An Indoor Multi-modal Multi-platform Odometry Dataset Beyond the Visible Spectrum
      Peize Li, Kaiwen Cai, Muhamad Risqi U. Saputra, Zhuangzhuang Dai, and Chris Xiaoxuan Lu
      In IEEE International Conference on Intelligent Robots and Systems (IROS) 2022
      arXiv Code
    9. ICRA’22
      AutoPlace: Robust Place Recognition with Single-chip Automotive Radar
      Kaiwen Cai, Bing Wang, and Chris Xiaoxuan Lu
      In International Conference on Robotics and Automation (ICRA) 2022
      arXiv Video Code Website
    10. ICRA’22
      DC-Loc: Accurate Automotive Radar Based Metric Localization with Explicit Doppler Compensation
      Pengen Gao, Shengkai Zhang, Wei Wang, and Chris Xiaoxuan Lu
      In International Conference on Robotics and Automation (ICRA) 2022
      arXiv Video Code Website
    11. NDSS’22
      SpiralSpy: Exploring a Stealthy and Practical Covert Channel to Attack Air-gapped Computing Devices via mmWave Sensing
      Zhengxiong Li, Baicheng Chen, Xingyu Chen, Huining Li, Chenhan Xu, Chris Xiaoxuan Lu, Feng Lin, Kui Ren, and Wenyao Xu
      In The Network and Distributed System Security Symposium (NDSS) 2022
      PDF
    12. AAMAS’22
      Multiagent Model-based Credit Assignment for Continuous Control
      Dongge Han, Chris Xiaoxuan Lu, Tomasz P. Michalak, and Michael Wooldridge
      In The 21st International Conference on Autonomous Agents and Multiagent Systems (AAMAS) 2022
      arXiv Video
    13. SECON’22
      Pedestrian Liveness Detection Based on mmWave Radar and Camera Fusion
      Hao Li, Ruofeng Liu, Shuai Wang, Wenchao Jiang, and Chris Xiaoxuan Lu
      In IEEE International Conference on Sensing, Communication, and Networking 2022 2022
      PDF

    2021

    1. AdHoc
      Human tracking and identification through a millimeter wave radar
      Peijun Zhao, Chris Xiaoxuan Lu, Jianan Wang, Changhao Chen, Wei Wang, Niki Trigoni, and Andrew Markham
      Ad Hoc Networks 2021
      HTML
    2. TNNLS
      DynaNet: Neural Kalman Dynamical Model for Motion Estimation and Prediction
      Changhao Chen, Chris Xiaoxuan Lu, Bing Wang, Niki Trigoni, and Andrew Markham
      IEEE Trans. Neural Networks Learn. Syst. 2021
      arXiv HTML
    3. TMC
      Deep Neural Network Based Inertial Odometry Using Low-Cost Inertial Measurement Units
      Changhao Chen, Chris Xiaoxuan Lu, Johan Wahlström, Andrew Markham, and Niki Trigoni
      IEEE Trans. Mob. Comput. 2021
      HTML
    4. ICCV’21
      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, Zhengdi Yu, Peijun Zhao, Zhen Dong, Fan Zhu, Niki Trigoni, and Andrew Markham
      In The IEEE/CVF International Conference on Computer Vision (ICCV) 2021
      arXiv Code
    5. ICRA’21
      3D Motion Capture of an Unmodified Drone with Single-chip Millimeter Wave Radar
      Peijun Zhao, Chris Xiaoxuan Lu, Bing Wang, Niki Trigoni, and Andrew Markham
      In IEEE International Conference on Robotics and Automation, ICRA 2021
      HTML Code

    2020

    1. IoT-J
      Deep-Learning-Based Pedestrian Inertial Navigation: Methods, Data Set, and On-Device Inference
      Changhao Chen, Peijun Zhao, Chris Xiaoxuan Lu, Wei Wang, Andrew Markham, and Niki Trigoni
      IEEE Internet Things J. 2020
      arXiv HTML
    2. RA-L/ICRA
      DeepTIO: A Deep Thermal-Inertial Odometry With Visual Hallucination
      Muhamad Risqi U. Saputra, Niki Trigoni, Pedro P. B. Gusmao, Chris Xiaoxuan Lu, Yasin Almalioglu, Stefano Rosa, Changhao Chen, Johan Wahlström, Wei Wang, and Andrew Markham
      IEEE Robotics Autom. Lett. (RA-L) / IEEE International Conference on Robotics and Automation (ICRA) 2020
      HTML
    3. AAAI’20
      AtLoc: Attention Guided Camera Localization
      Bing Wang, Changhao Chen, Chris Xiaoxuan Lu, Peijun Zhao, Niki Trigoni, and Andrew Markham
      In The Thirty-Fourth AAAI Conference on Artificial Intelligence 2020
      arXiv HTML Code
    4. ICRA’20
      Heart Rate Sensing with a Robot Mounted mmWave Radar
      Peijun Zhao, Chris Xiaoxuan Lu, Bing Wang, Changhao Chen, Linhai Xie, Mengyu Wang, Niki Trigoni, and Andrew Markham
      In IEEE International Conference on Robotics and Automation, ICRA 2020
      HTML Video Code
    5. MobiSys’20
      See through smoke: robust indoor mapping with low-cost mmWave radar
      Chris Xiaoxuan Lu, Stefano Rosa, Peijun Zhao, Bing Wang, Changhao Chen, John A. Stankovic, Niki Trigoni, and Andrew Markham
      In The 18th Annual International Conference on Mobile Systems, Applications, and Services (MobiSys) 2020
      arXiv HTML Video Code
    6. SenSys’20
      milliEgo: single-chip mmWave radar aided egomotion estimation via deep sensor fusion
      Chris Xiaoxuan Lu, Muhamad Risqi U. Saputra, Peijun Zhao, Yasin Almalioglu, Pedro P. B. Gusmao, Changhao Chen, Ke Sun, Niki Trigoni, and Andrew Markham
      In The 18th ACM Conference on Embedded Networked Sensor Systems (SenSys) 2020
      arXiv HTML Video Code
    7. WWW’20
      Nowhere to Hide: Cross-modal Identity Leakage between Biometrics and Devices
      Chris Xiaoxuan Lu, Yang Li, Yuanbo Xiangli, and Zhengxiong Li
      In The Web Conference (WWW) 2020
      arXiv HTML Code

    2019

    1. IoT-J
      Autonomous Learning of Speaker Identity and WiFi Geofence From Noisy Sensor Data
      Chris Xiaoxuan Lu, Yuanbo Xiangli, Peijun Zhao, Changhao Chen, Niki Trigoni, and Andrew Markham
      IEEE Internet Things J. 2019
      HTML
    2. THMS
      Semantic Place Understanding for Human-Robot Coexistence - Toward Intelligent Workplaces
      Stefano Rosa, Andrea Patane, Chris Xiaoxuan Lu, and Niki Trigoni
      IEEE Trans. Hum. Mach. Syst. 2019
      HTML
    3. TMC
      Efficient Indoor Positioning with Visual Experiences via Lifelong Learning
      Hongkai Wen, Ronald Clark, Sen Wang, Chris Xiaoxuan Lu, Bowen Du, Wen Hu, and Niki Trigoni
      IEEE Trans. Mob. Comput. 2019
      HTML
    4. AAAI’19
      MotionTransformer: Transferring Neural Inertial Tracking between Domains
      Changhao Chen, Yishu Miao, Chris Xiaoxuan Lu, Linhai Xie, Phil Blunsom, Andrew Markham, and Niki Trigoni
      In The Thirty-Third AAAI Conference on Artificial Intelligence, AAAI 2019
      HTML
    5. CVPR’19
      Selective Sensor Fusion for Neural Visual-Inertial Odometry
      Changhao Chen, Stefano Rosa, Yishu Miao, Chris Xiaoxuan Lu, Wei Wu, Andrew Markham, and Niki Trigoni
      In IEEE Conference on Computer Vision and Pattern Recognition 2019
      HTML Code
    6. DCOSS’19
      mID: Tracking and Identifying People with Millimeter Wave Radar
      Peijun Zhao, Chris Xiaoxuan Lu, Jianan Wang, Changhao Chen, Wei Wang, Niki Trigoni, and Andrew Markham
      In 15th International Conference on Distributed Computing in Sensor Systems, DCOSS 2019
      Best Paper Runner-up
      HTML
    7. WWW’19
      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, and John A. Stankovic
      In The World Wide Web Conference 2019
      arXiv HTML Code

    2018

    1. MobiCom’18
      Simultaneous Localization and Mapping with Power Network Electromagnetic Field
      Chris Xiaoxuan Lu, Yang Li, Peijun Zhao, Changhao Chen, Linhai Xie, Hongkai Wen, Rui Tan, and Niki Trigoni
      In The 24th Annual International Conference on Mobile Computing and Networking (MobiCom) 2018
      Video PDF
    2. ISWC’18
      Deepauth: in-situ authentication for smartwatches via deeply learned behavioural biometrics
      Chris Xiaoxuan Lu, Bowen Du, Peijun Zhao, Hongkai Wen, Yiran Shen, Andrew Markham, and Niki Trigoni
      In The 2018 ACM International Symposium on Wearable Computers ISWC 2018
      HTML
    3. AAAI’18
      IONet: Learning to Cure the Curse of Drift in Inertial Odometry
      Changhao Chen, Chris Xiaoxuan Lu, Andrew Markham, and Niki Trigoni
      In The Thirty-Second AAAI Conference on Artificial Intelligence (AAAI) 2018
      arXiv HTML Video

    2017

    1. IMWUT
      Snoopy: Sniffing Your Smartwatch Passwords via Deep Sequence Learning
      Chris Xiaoxuan Lu, Bowen Du, Hongkai Wen, Sen Wang, Andrew Markham, Ivan Martinovic, Yiran Shen, and Niki Trigoni
      Proc. ACM Interact. Mob. Wearable Ubiquitous Technol. (IMWUT) / International Joint Conference on Pervasive and Ubiquitous Computing (UbiComp) 2017
      arXiv HTML Code
    2. IPSN’17
      SCAN: learning speaker identity from noisy sensor data
      Chris Xiaoxuan Lu, Hongkai Wen, Sen Wang, Andrew Markham, and Niki Trigoni
      In The 16th ACM/IEEE International Conference on Information Processing in Sensor Networks, IPSN 2017
      HTML

    2016

    1. TWC
      A Robust Indoor Positioning System Based on the Procrustes Analysis and Weighted Extreme Learning Machine
      Han Zou, Baoqi Huang, Chris Xiaoxuan Lu, Hao Jiang, and Lihua Xie
      IEEE Trans. Wirel. Commun. 2016
      HTML
    2. TCY-B
      Robust Extreme Learning Machine With its Application to Indoor Positioning
      Xiaoxuan Lu, Han Zou, Hongming Zhou, Lihua Xie, and Guang-Bin Huang
      IEEE Trans. Cybern. 2016
      HTML
    3. WiMob’16
      Robust occupancy inference with commodity WiFi
      Xiaoxuan Lu, Hongkai Wen, Han Zou, Hao Jiang, Lihua Xie, and Niki Trigoni
      In 12th IEEE International Conference on Wireless and Mobile Computing, Networking and Communications, WiMob 2016
      HTML