publications

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

preprints

  1. Preprint
    ThermoHands: A Benchmark for 3D Hand Pose Estimation from Egocentric Thermal Image
    Fangqiang Ding, Yunzhou Zhu, Xiangyu Wen, and Chris Xiaoxuan Lu
    CoRR 2024
    arXiv
  2. Preprint
    Risk Controlled Image Retrieval
    Kaiwen Cai, Chris Xiaoxuan Lu, Xingyu Zhao, and Xiaowei Huang
    CoRR 2024
    arXiv

2024

  1. 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
  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. 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
  4. 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
  5. 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
  6. 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
  7. 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
  8. 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

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. 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