publications

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

preprints

  1. Preprint
    milliFlow: Scene Flow Estimation on mmWave Radar Point Cloud for Human Motion Sensing
    Ding, Fangqiang, Luo, Zhen, Zhao, Peijun, and Lu, Chris Xiaoxuan
    2024
    arXiv
  2. Preprint
    Risk Controlled Image Retrieval
    Cai, Kaiwen, Lu, Chris Xiaoxuan, Zhao, Xingyu, and Huang, Xiaowei
    CoRR 2024
    arXiv
  3. Preprint
    Moving Object Detection and Tracking with 4D Radar Point Cloud
    Pan, Zhijun, Ding, Fangqiang, Zhong, Hantao, and Lu, Chris Xiaoxuan
    CoRR 2024
    arXiv
  4. Preprint
    See Beyond Seeing: Robust 3D Object Detection from Point Clouds via Cross-Modal Hallucination
    Deng, Jianning, Chan, Gabriel, Zhong, Hantao, and Lu, Chris Xiaoxuan
    CoRR 2024
    arXiv
  5. Preprint
    Multimodal Indoor Localization Using Crowdsourced Radio Maps
    Yi, Zhaoguang, Wen, Xiangyu, Xia, Qiyue, Li, Peize, Zampella, Francisco, Alsehly, Firas, and Lu, Chris Xiaoxuan
    CoRR 2024
    arXiv

2024

    2023

    1. TNNLS
      Deep Learning for Visual Localization and Mapping: A Survey
      Chen, Changhao, Wang, Bing, Lu, Chris Xiaoxuan, Trigoni, Niki, and Markham, Andrew
      IEEE Transactions on Neural Networks and Learning Systems 2023
      arXiv
    2. RA-L
      Uncertainty Estimation for 3D Dense Prediction via Cross-Point Embeddings
      Cai, Kaiwen, Lu, Chris Xiaoxuan, and Huang, Xiaowei
      IEEE Robotics Autom. Lett. (RA-L) 2023
      arXiv Video Code
    3. Patterns
      SenseFi: A library and benchmark on deep-learning-empowered WiFi human sensing
      Yang, Jianfei, Chen, Xinyan, Zou, Han, Lu, Chris Xiaoxuan, Wang, Dazhuo, Sun, Sumei, and Xie, Lihua
      Patterns 2023
      arXiv Code
    4. IoT-J
      CubeLearn: End-to-end Learning for Human Motion Recognition from Raw mmWave Radar Signals
      Zhao, Peijun, Lu, Chris Xiaoxuan, Wang, Bing, Trigoni, Niki, and Markham, Andrew
      IEEE Internet of Things Journal 2023
      arXiv Code
    5. IMWUT
      Human Parsing with Joint Learning for Dynamic mmWave Radar Point Cloud
      Wang, Shuai, Cao, Dongjiang, Liu, Ruofeng, Jiang, Wenchao, Yao, Tianshun, and Lu, Chris Xiaoxuan
      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
      Ding, Fangqiang, Palffy, Andras, Gavrila, Dariu M., and Lu, Chris Xiaoxuan
      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
      Yang, Jianfei, Huang, He, Zhou, Yunjiao, Chen, Xinyan, Xu, Yuecong, Yuan, Shenghai, Zou, Han, Lu, Chris Xiaoxuan, and Xie, Lihua
      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
      Cai, Kaiwen, Xia, Qiyue, Li, Peize, Stankovic, John A., and Lu, Chris Xiaoxuan
      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
      Wang, Jialu, Saputra, Muhamad Risqi Utama, Lu, Chris Xiaoxuan, Trigoni, Niki, and Markham, Andrew
      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
      Deng, Jianning, Li, Peize, Dhaliwal, Kev, Lu, Chris Xiaoxuan, and Khadem, Mohsen
      In IEEE/RSJ International Conference on Intelligent Robots and Systems 2023
      PDF
    11. NDSS’23
      MetaWave: Attacking mmWave Sensing with Meta-material-enhanced Tags
      Chen, Xingyu, Li, Zhengxiong, Chen, Baicheng, Zhu, Yi, Lu, Chris Xiaoxuan, Peng, Zhengyu, Lin, Feng, Xu, Wenyao, Ren, Kui, and Qiao, Chunming
      In 30th Annual Network and Distributed System Security Symposium 2023
      PDF
    12. ICRA-W’23
      VL-Fields: Towards Language-Grounded Neural Implicit Spatial Representations
      Tsagkas, Nikolaos, Aodha, Oisin Mac, and Lu, Chris Xiaoxuan
      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
      Saputra, Muhamad Risqi U., Lu, Chris Xiaoxuan, Gusmao, Pedro Porto B., Wang, Bing, Markham, Andrew, and Trigoni, Niki
      IEEE Transactions on Robotics 2022
      arXiv Video Code
    2. TNNLS
      Learning Selective Sensor Fusion for States Estimation
      Chen, Changhao, Lu, Chris Xiaoxuan, Wang, Bing, Trigoni, Niki, and Markham, Andrew
      IEEE Trans. Neural Networks Learn. Syst. 2022
      arXiv
    3. RA-L/IROS
      Self-Supervised Scene Flow Estimation with 4D Automotive Radar
      Ding, Fangqiang, Pan, Zhijun, Deng, Yimin, Deng, Jianning, and Lu, Chris Xiaoxuan
      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
      Cao, Dongjiang, Liu, Ruofeng, Li, Hao, Wang, Shuai, Jiang, Wenchao, and Lu, Chris Xiaoxuan
      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
      Deng, Lang, Yang, Jianfei, Yuan, Shenghai, Zou, Han, Lu, Chris Xiaoxuan, and Xie, Lihua
      IEEE Internet of Things Journal 2022
      arXiv
    6. SenSys’22
      Telesonar: Robocall Alarm System by Detecting Echo Channel and Breath Timing
      Yan, Zhenyu, Tan, Rui, Song, Qun, and Lu, Chris Xiaoxuan
      In ACM Conference on Embedded Networked Sensor Systems (SenSys) 2022
      PDF
    7. IROS’22
      STUN: Self-Teaching Uncertainty Estimation for Place Recognition
      Cai, Kaiwen, Lu, Chris Xiaoxuan, and Huang, Xiaowei
      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
      Li, Peize, Cai, Kaiwen, Saputra, Muhamad Risqi U., Dai, Zhuangzhuang, and Lu, Chris Xiaoxuan
      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
      Cai, Kaiwen, Wang, Bing, and Lu, Chris Xiaoxuan
      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
      Gao, Pengen, Zhang, Shengkai, Wang, Wei, and Lu, Chris Xiaoxuan
      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
      Li, Zhengxiong, Chen, Baicheng, Chen, Xingyu, Li, Huining, Xu, Chenhan, Lu, Chris Xiaoxuan, Lin, Feng, Ren, Kui, and Xu, Wenyao
      In The Network and Distributed System Security Symposium (NDSS) 2022
      PDF
    12. AAMAS’22
      Multiagent Model-based Credit Assignment for Continuous Control
      Han, Dongge, Lu, Chris Xiaoxuan, Michalak, Tomasz P., and Wooldridge, Michael
      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
      Li, Hao, Liu, Ruofeng, Wang, Shuai, Jiang, Wenchao, and Lu, Chris Xiaoxuan
      In IEEE International Conference on Sensing, Communication, and Networking 2022 2022
      PDF

    2021

    1. AdHoc
      Human tracking and identification through a millimeter wave radar
      Zhao, Peijun, Lu, Chris Xiaoxuan, Wang, Jianan, Chen, Changhao, Wang, Wei, Trigoni, Niki, and Markham, Andrew
      Ad Hoc Networks 2021
      HTML
    2. TNNLS
      DynaNet: Neural Kalman Dynamical Model for Motion Estimation and Prediction
      Chen, Changhao, Lu, Chris Xiaoxuan, Wang, Bing, Trigoni, Niki, and Markham, Andrew
      IEEE Trans. Neural Networks Learn. Syst. 2021
      arXiv HTML
    3. TMC
      Deep Neural Network Based Inertial Odometry Using Low-Cost Inertial Measurement Units
      Chen, Changhao, Lu, Chris Xiaoxuan, Wahlström, Johan, Markham, Andrew, and Trigoni, Niki
      IEEE Trans. Mob. Comput. 2021
      HTML
    4. ICCV’21
      P2-Net: Joint Description and Detection of Local Features for Pixel and Point Matching
      Wang, Bing, Chen, Changhao, Cui, Zhaopeng, Qin, Jie, Lu, Chris Xiaoxuan, Yu, Zhengdi, Zhao, Peijun, Dong, Zhen, Zhu, Fan, Trigoni, Niki, and Markham, Andrew
      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
      Zhao, Peijun, Lu, Chris Xiaoxuan, Wang, Bing, Trigoni, Niki, and Markham, Andrew
      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
      Chen, Changhao, Zhao, Peijun, Lu, Chris Xiaoxuan, Wang, Wei, Markham, Andrew, and Trigoni, Niki
      IEEE Internet Things J. 2020
      arXiv HTML
    2. RA-L/ICRA
      DeepTIO: A Deep Thermal-Inertial Odometry With Visual Hallucination
      Saputra, Muhamad Risqi U., Trigoni, Niki, Gusmao, Pedro P. B., Lu, Chris Xiaoxuan, Almalioglu, Yasin, Rosa, Stefano, Chen, Changhao, Wahlström, Johan, Wang, Wei, and Markham, Andrew
      IEEE Robotics Autom. Lett. (RA-L) / IEEE International Conference on Robotics and Automation (ICRA) 2020
      HTML
    3. AAAI’20
      AtLoc: Attention Guided Camera Localization
      Wang, Bing, Chen, Changhao, Lu, Chris Xiaoxuan, Zhao, Peijun, Trigoni, Niki, and Markham, Andrew
      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
      Zhao, Peijun, Lu, Chris Xiaoxuan, Wang, Bing, Chen, Changhao, Xie, Linhai, Wang, Mengyu, Trigoni, Niki, and Markham, Andrew
      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
      Lu, Chris Xiaoxuan, Rosa, Stefano, Zhao, Peijun, Wang, Bing, Chen, Changhao, Stankovic, John A., Trigoni, Niki, and Markham, Andrew
      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
      Lu, Chris Xiaoxuan, Saputra, Muhamad Risqi U., Zhao, Peijun, Almalioglu, Yasin, Gusmao, Pedro P. B., Chen, Changhao, Sun, Ke, Trigoni, Niki, and Markham, Andrew
      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
      Lu, Chris Xiaoxuan, Li, Yang, Xiangli, Yuanbo, and Li, Zhengxiong
      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
      Lu, Chris Xiaoxuan, Xiangli, Yuanbo, Zhao, Peijun, Chen, Changhao, Trigoni, Niki, and Markham, Andrew
      IEEE Internet Things J. 2019
      HTML
    2. THMS
      Semantic Place Understanding for Human-Robot Coexistence - Toward Intelligent Workplaces
      Rosa, Stefano, Patane, Andrea, Lu, Chris Xiaoxuan, and Trigoni, Niki
      IEEE Trans. Hum. Mach. Syst. 2019
      HTML
    3. TMC
      Efficient Indoor Positioning with Visual Experiences via Lifelong Learning
      Wen, Hongkai, Clark, Ronald, Wang, Sen, Lu, Chris Xiaoxuan, Du, Bowen, Hu, Wen, and Trigoni, Niki
      IEEE Trans. Mob. Comput. 2019
      HTML
    4. AAAI’19
      MotionTransformer: Transferring Neural Inertial Tracking between Domains
      Chen, Changhao, Miao, Yishu, Lu, Chris Xiaoxuan, Xie, Linhai, Blunsom, Phil, Markham, Andrew, and Trigoni, Niki
      In The Thirty-Third AAAI Conference on Artificial Intelligence, AAAI 2019
      HTML
    5. CVPR’19
      Selective Sensor Fusion for Neural Visual-Inertial Odometry
      Chen, Changhao, Rosa, Stefano, Miao, Yishu, Lu, Chris Xiaoxuan, Wu, Wei, Markham, Andrew, and Trigoni, Niki
      In IEEE Conference on Computer Vision and Pattern Recognition 2019
      HTML Code
    6. DCOSS’19
      mID: Tracking and Identifying People with Millimeter Wave Radar
      Zhao, Peijun, Lu, Chris Xiaoxuan, Wang, Jianan, Chen, Changhao, Wang, Wei, Trigoni, Niki, and Markham, Andrew
      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
      Lu, Chris Xiaoxuan, Kan, Xuan, Du, Bowen, Chen, Changhao, Wen, Hongkai, Markham, Andrew, Trigoni, Niki, and Stankovic, John A.
      In The World Wide Web Conference 2019
      arXiv HTML Code

    2018

    1. MobiCom’18
      Simultaneous Localization and Mapping with Power Network Electromagnetic Field
      Lu, Chris Xiaoxuan, Li, Yang, Zhao, Peijun, Chen, Changhao, Xie, Linhai, Wen, Hongkai, Tan, Rui, and Trigoni, Niki
      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
      Lu, Chris Xiaoxuan, Du, Bowen, Zhao, Peijun, Wen, Hongkai, Shen, Yiran, Markham, Andrew, and Trigoni, Niki
      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
      Chen, Changhao, Lu, Chris Xiaoxuan, Markham, Andrew, and Trigoni, Niki
      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
      Lu, Chris Xiaoxuan, Du, Bowen, Wen, Hongkai, Wang, Sen, Markham, Andrew, Martinovic, Ivan, Shen, Yiran, and Trigoni, Niki
      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
      Lu, Chris Xiaoxuan, Wen, Hongkai, Wang, Sen, Markham, Andrew, and Trigoni, Niki
      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
      Zou, Han, Huang, Baoqi, Lu, Chris Xiaoxuan, Jiang, Hao, and Xie, Lihua
      IEEE Trans. Wirel. Commun. 2016
      HTML
    2. TCY-B
      Robust Extreme Learning Machine With its Application to Indoor Positioning
      Lu, Xiaoxuan, Zou, Han, Zhou, Hongming, Xie, Lihua, and Huang, Guang-Bin
      IEEE Trans. Cybern. 2016
      HTML
    3. WiMob’16
      Robust occupancy inference with commodity WiFi
      Lu, Xiaoxuan, Wen, Hongkai, Zou, Han, Jiang, Hao, Xie, Lihua, and Trigoni, Niki
      In 12th IEEE International Conference on Wireless and Mobile Computing, Networking and Communications, WiMob 2016
      HTML