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Bio

I am a Lecturer (Assitant Professor) at College of Intelligence Science, National University of Defense Technology (NUDT), China. Before that, I was a postdoctoral researcher (2020) at Department of Computer Science, University of Oxford. I received Ph.D. in Computer Science (2016-2020) from University of Oxford, supevised by Prof. Niki Trigoni and Prof. Andrew Markham, Master in Engineering (2014-2016) from National University of Defense Technology, and Bachelor in Engineering (2010-2014) from the Tongji University, China.

My research interests include Robotics, Machine Learning and Cyber-Physical Systems. Driven by solving real-world problems, I study machine (deep) learning to process time-series sensor data for localization, mapping, navigation, and perception, in support of robots, mobile devices, self-driving vehicles and Internet of Things (IoT).

News

May 2022
Our paper "Learning Selective Sensor Fusion for States Estimation" was accepted to IEEE TNNLS.
Nov 2021
Our paper "PointLoc: Deep Pose Regressor for LiDAR Point Cloud Localization" was accepted to IEEE Sensors Journal.
Oct 2021
Our paper "MaskVO: Self-Supervised Visual Odometry with a Learnable Dynamic Mask" was accepted to SII 2022.
Sep 2021
Our paper "DynaNet: Neural Kalman Dynamical Model for Motion Estimation and Prediction" was accepted to IEEE TNNLS.
Aug 2021
Awarded a research grant on "Multimodal Knowledge Fusion and Life-long Learning for Micro Navigation Systems" (PI) from National Natural Science Foundation of China.
July 2021
Our paper "P2-Net: Joint Description and Detection of Local Features for Pixel and Point Matching" was accepted to ICCV 2021.
Apr 2021
Our paper "Contrastive Learning of Zero-velocity Detection for Pedestrian Inertial Navigation" was accepted to IEEE Sensors Journal.
Mar 2021
Our paper "Human tracking and identification through a millimeter wave radar" was accepted to Ad Hoc Networks.
Dec 2020
I joined College of Intelligence Science, National University of Defense Technology as a Lecturer (Assistant Professor).

Preprints

A Survey on Deep Learning for Localization and Mapping: Towards the Age of Spatial Machine Intelligence
arXiv:2006.12567
Changhao Chen, Bing Wang, Chris Xiaoxuan Lu, Niki Trigoni, Andrew Markham

Publications

2022

Learning Selective Sensor Fusion for States Estimation
IEEE Transactions on Neural Networks and Learning Systems (impact factor = 10.451)
Changhao Chen, Stefano Rosa, Chris Xiaoxuan Lu, Bing Wang, Niki Trigoni, Andrew Markham
MaskVO: Self-Supervised Visual Odometry with a Learnable Dynamic Mask
SII-2022, 2022 IEEE/SICE International Symposium on System Integration
Weihao Xuan, Ruijie Ren, Siyuan Wu, Changhao Chen
PointLoc: Deep Pose Regressor for LiDAR Point Cloud Localization
IEEE Sensors Journal (impact factor = 3.076)
Wei Wang, Bing Wang, Peijun Zhao, Changhao Chen, Ronald Clark, Bo Yang, Andrew Markham, Niki Trigoni

2021

DynaNet: Neural Kalman Dynamical Model for Motion Estimation and Prediction
IEEE Transactions on Neural Networks and Learning Systems (impact factor = 10.451)
Changhao Chen, Chris Xiaoxuan Lu, Bing Wang, Niki Trigoni, Andrew Markham
P2-Net: Joint Description and Detection of Local Features for Pixel and Point Matching
ICCV-2021, 2021 International Conference on Computer Vision
Bing Wang, Changhao Chen, Zhaopeng Cui, Jie Qin, Chris Xiaoxuan Lu, Zhengdi Yu, Peijun Zhao, Zhen Dong, Fan Zhu, Niki Trigoni, Andrew Markham
Contrastive Learning of Zero-velocity Detection for Pedestrian Inertial Navigation
IEEE Sensors Journal (impact factor = 3.073)
Ze Chen, Xianfei Pan, Changhao Chen, Meiping Wu
Human tracking and identification through a millimeter wave radar
Ad Hoc Networks (impact factor = 3.643)
Peijun Zhao, Chris Xiaoxuan Lu, Jianan Wang, Changhao Chen, Wei Wang, Niki Trigoni, Andrew Markham
VMLoc: Variational Fusion for Learning-Based Multimodal Camera Localization
AAAI-2021, The 35th AAAI Conference on Artificial Intelligence
Rui Zhou, Changhao Chen*, Bing Wang, Muhamad Saputra, Andrew Markham, Niki Trigoni

2020

milliEgo: Single-chip mmWave Radar Aided Egomotion Estimation via Deep Sensor Fusion
SenSys-2020, The 18th ACM Conference on Embedded Networked Sensor Systems
Chris Xiaoxuan Lu, Muhamad Saputra, Peijun Zhao, Yasin Almalioglu, Pedro P. B. de Gusmao, Changhao Chen, Ke Sun, Niki Trigoni, Andrew Markham
Deep Learning based Pedestrian Inertial Navigation: Methods, Dataset and On-Device Inference
IEEE Internet of Things Journal (impact factor = 9.936)
Changhao Chen*, Peijun Zhao*, Chris Xiaoxuan Lu, Wei Wang, Andrew Markham, Niki Trigoni
[PDF]

* equal contribution

AtLoc: Attention Guided Camera Localization
AAAI-2020, The 34th AAAI Conference on Artificial Intelligence
Bing Wang, Changhao Chen*, Chris Xiaoxuan Lu, Peijun Zhao, Niki Trigoni, Andrew Markham
[PDF] [Bibtex] [Code]

*corresponding author

Deep Neural Network Based Inertial Odometry Using Low-cost Inertial Measurement Units
IEEE Transactions on Mobile Computing (impact factor = 5.112)
Changhao Chen, Chris Xiaoxuan Lu, Johan Wahlstrom, Andrew Markham, Niki Trigoni
milliMap: Robust Indoor Mapping with Low-cost mmWave Radar
MobiSys-2020, The 18th ACM International Conference on Mobile Systems, Applications, and Services
Chris Xiaoxuan Lu, Stefano Rosa, Peijun Zhao, Bing Wang, Changhao Chen, Niki Trigoni, Andrew Markham
DeepTIO: A Deep Thermal-Inertial Odometry with Visual Hallucination
IEEE Robotics and Automation Letters (impact factor = 3.608)
ICRA-2020, International Conference on Robotics and Automation
Muhamad Saputra, Pedro Gusmao, Chris Xiaoxuan Lu, Yasin Almalioglu, Stefano Rosa, Changhao Chen, Johan Wahlstrom, Wei Wang, Andrew Markham, Niki Trigoni
Heart Rate Sensing with a Robot Mounted mmWave Radar
ICRA-2020, International Conference on Robotics and Automation
Peijun Zhao, Chris Xiaoxuan Lu, Bing Wang, Changhao Chen, Mengyu Wang, Andrew Markham, Niki Trigoni
Learning with Stochastic Guidance for Robot Navigation
IEEE Transactions on Neural Networks and Learning Systems (impact factor = 8.793)
Linhai Xie, Yishu Miao, Sen Wang, Phil Blunsom, Zhihua Wang, Changhao Chen, Andrew Markham, Niki Trigoni

2019

Selective Sensor Fusion for Neural Visual-Inertial Odometry
CVPR-2019, Conference on Computer Vision and Pattern Recognition
Changhao Chen, Stefano Rosa, Yishu Miao, Chris Xiaoxuan Lu, Wei Wu, Andrew Markham, Niki Trigoni
MotionTransformer: Transferring Neural Inertial Tracking Between Domains
AAAI-2019, The 33rd AAAI Conference on Artificial Intelligence
Changhao Chen, Yishu Miao, Chris Xiaoxuan Lu, Linhai Xie, Phil Blunsom, Andrew Markham, Niki Trigoni
DeepPCO: End-to-End Point Cloud Odometry through Deep Parallel Neural Network
IROS-2019, IEEE/RSJ International Conference on Intelligent Robots and Systems
Wei Wang, Muhamad Saputra, Peijun Zhao, Pedro Gusmao, Bo Yang, Changhao Chen, Andrew Markham, Niki Trigoni
Autonomous Learning of Speaker Identity and WiFi Geofence from Noisy Sensor Data
IEEE Internet of Things Journal (impact factor = 9.936)
Chris Xiaoxuan Lu, Yuanbo Xiangli, Peijun Zhao, Changhao Chen, Niki Trigoni, Andrew Markham
mID: Tracking and Identifying People with Millimeter Wave Radar
DCOSS-2019, International Conference on Distributed Computing in Sensor Systems
Peijun Zhao, Chris Xiaoxuan Lu, Jianan Wang, Changhao Chen, Wei Wang, Andrew Markham, Niki Trigoni
[PDF] [Bibtex]

Best Paper Nominee

Autonomous Learning for Face Recognition in the Wild via Ambient Wireless Cues
WWW-2019, The Web Conference
Chris Xiaoxuan Lu, Xuan Kan, Bowen Du, Changhao Chen, Hongkai Wen, Andrew Markham, Niki Trigoni, John A. Stankovic

2018

IONet: Learning to Cure the Curse of Drift in Inertial Odometry
AAAI-2018, The 32nd AAAI Conference on Artificial Intelligence
Changhao Chen, Xiaoxuan Lu, Andrew Markham, Niki Trigoni
Simultaneous Localization and Mapping with Power Network Electromagnetic Field
MobiCom-2018, Annual International Conference on Mobile Computing and Networking
Chris Xiaoxuan Lu, Yang Li, Peijun Zhao, Changhao Chen, Linhai Xie, Hongkai Wen, Rui Tan, Niki Trigoni
Tightly-Coupled Integration of Inertial and Magneto-Inductive Sensors for Large-Scale Indoor Localization
Technical Report, Oxford, UK, April 2017
Changhao Chen, Andrew Markham, Niki Trigoni

Thesis

Learning Methods for Robust Localization
Changhao Chen
Advised by Prof. Niki Trigoni and Prof. Andrew Markham
University of Oxford
Feb 2020

Research Projects

Teaching

Services

Professional Services

  • Conference Reviewer/Program Commitee
    • International Conference on Robotics and Automation (ICRA)
    • International Conference on Intelligent Robots and Systems (IROS)
    • Conference on Neural Information Processing Systems (NeurIPS)
    • International Conference on Machine Learning (ICML)
    • The International Conference on Learning Representations (ICLR)
    • The AAAI Conference on Artificial Intelligence (AAAI)
    • Conference on Computer Vision and Pattern Recognition (CVPR)
    • International Conference on Computer Vision (ICCV)
    • The Web Conference (WWW)
    • British Machine Vision Conference (BMVC)
    • The Pioneers Workshop of Robotics: Science and Systems (RSS Pioneers)
  • Journal Reviewer
    • IEEE Transactions on Automatic Control (TAC)
    • IEEE Transactions on Mobile Computing (TMC)
    • IEEE Transactions on Neural Networks and Learning Systems (TNNLS)
    • IEEE Transactions on Instrumentation and Measurement (TIM)
    • IEEE Robotics and Automation Letters (RA-L)
    • IEEE Internet of Things Journal (IoT-J)
    • IEEE Sensors Journal
    • Neural Computing
    • IEEE Communications Letters
    • ISPRS Journal of Photogrammetry and Remote Sensing

Other Services