publications

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

preprints

  1. Preprint
    A Survey on Deep Learning for Localization and Mapping: Towards the Age of Spatial Machine Intelligence
    Chen, Changhao, Wang, Bing, Lu, Chris Xiaoxuan, Trigoni, Niki, and Markham, Andrew
    CoRR 2020
    arXiv

2023

  1. 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
  2. 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
  3. 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
  4. 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
  5. 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
    Selected as CVPR’23 Highlight (top 2.5% out of 9155 submissions)
    arXiv Video Code Website
  6. NDSS
    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

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 (Best Paper Runner-up)
    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
    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