publications

publications by categories in reversed chronological order. generated by jekyll-scholar.

2025

  1. langloc.png
    LangLoc: Language-Driven Localization via Formatted Spatial Description Generation
    Weimin Shi, Changhao Chen, Kaige Li, Yuan Xiong, Xiaochun Cao, and Zhong Zhou
    IEEE Transactions on Image Processing (TIP), 2025
  2. M2EIT: Multi-Domain Mixture of Experts for Robust Neural Inertial Tracking
    Yan Li, Yang Xu, Changhao Chen, Zhongchen Shi, Wei Chen, Liang Xie, Hongbo Chen, and Erwei Yin
    In The International Conference on Computer Vision (ICCV-2025), 2025
  3. SLAM in the Dark: Self-Supervised Learning of Pose, Depth and Loop-Closure from Thermal Images
    Yangfan Xu, Qu Hao, Lilian Zhang, Jun Mao, Xiaofeng He, Wenqi Wu, and Changhao Chen
    arXiv preprint arXiv:2502.18932, 2025
  4. ThermalLoc: A Vision Transformer-Based Approach for Robust Thermal Camera Relocalization in Large-Scale Environments
    Yu Liu, Yangtao Meng, Xianfei Pan, Jie Jiang, and Changhao Chen
    In The 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025), 2025

2024

  1. Deep Learning for Inertial Positioning: A Survey
    Changhao Chen and Xianfei Pan
    IEEE Transactions on Intelligent Transportation Systems, 2024
  2. DK-SLAM: Monocular Visual SLAM with Deep Keypoint Learning, Tracking and Loop-Closing
    Hao Qu, Lilian Zhang, Jun Mao, Junbo Tie, Xiaofeng He, Xiaoping Hu, Yifei Shi, and Changhao Chen
    arXiv preprint arXiv:2401.09160, 2024
  3. EffLoc: Lightweight Vision Transformer for Efficient 6-DOF Camera Relocalization
    Zhendong Xiao, Changhao Chen, Shan Yang, and Wu Wei
    In The 2024 IEEE International Conference on Robotics and Automation (ICRA-2024), 2024
  4. Matching Query Image Against Selected NeRF Feature for Efficient and Scalable Localization
    Huaiji Zhou, Bing Wang, and Changhao Chen
    arXiv preprint arXiv:2406.11766, 2024
  5. D3L-SLAM: A Comprehensive Hybrid Simultaneous Location and Mapping System with Deep Keypoint, Deep Depth, Deep Pose, and Line Detection
    Hao Qu, Congrui Wang, Yangfan Xu, Lilian Zhang, Xiaoping Hu, and Changhao Chen
    Applied Sciences, 2024
  6. SmokeNav: Millimeter-Wave-Radar/Inertial Measurement Unit Integrated Positioning and Semantic Mapping in Visually Degraded Environments for First Responders
    Changhao Chen, Zhiqiang Yao, Junlin Jiang, Xianfei Pan, Xiaofeng He, Ze Chen, and Bing Wang
    Advanced Intelligent Systems, 2024
  7. Knowledge Distillation for Lightweight Feature Extraction in Learning-Based Visual SLAM
    Guixian Li, Lilian Zhang, Hao Qu, and Changhao Chen
    In International Conference on Guidance, Navigation and Control, 2024
  8. A Robust Pedestrian LiDAR-Inertial Odometry with Motion Constraints and Loop-Closing
    Xianfei Pan, Zongyang Chen, Zheming Tu, Chaoqun Chu, and Changhao Chen
    In International Conference on Guidance, Navigation and Control, 2024

2023

  1. survey.png
    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 (TNNLS), 2023
  2. Determining the location of a mobile device
    Changhao Chen, Ronald Clark, Andrew Markham, and Agathoniki TRIGONI
    Oct 2023
    US Patent 11,788,843
  3. SelfOdom: Self-supervised Egomotion and Depth Learning via Bi-directional Coarse-to-Fine Scale Recovery
    Hao Qu, Lilian Zhang, Xiaoping Hu, Xiaofeng He, Xianfei Pan, and Changhao Chen
    IEEE Transactions on Intelligent Vehicles, Oct 2023
  4. ReLoc-PDR: Visual Relocalization Enhanced Pedestrian Dead Reckoning via Graph Optimization
    Zongyang Chen, Xianfei Pan, and Changhao Chen
    IEEE Sensors Journal, Oct 2023
  5. Drone-NeRF: Efficient NeRF Based 3D Scene Reconstruction for Large-Scale Drone Survey
    Zhihao Jia, Bing Wang, and Changhao Chen
    Image and Vision Computing, Oct 2023
  6. A Novel Pedestrian Dead Reckoning Method Based on Visual Feature Map Matching Constraints
    Zongyang Chen, Xianfei Pan, Changhao Chen, and Zheming Tu
    In 2023 42nd Chinese Control Conference (CCC), Oct 2023

2022

  1. select_cvpr.png
    Learning selective sensor fusion for state estimation
    Changhao Chen, Stefano Rosa, Chris Xiaoxuan Lu, Bing Wang, Niki Trigoni, and Andrew Markham
    IEEE Transactions on Neural Networks and Learning Systems (TNNLS), Oct 2022
  2. MaskVO: Self-supervised visual odometry with a learnable dynamic mask
    Weihao Xuan, Ruijie Ren, Siyuan Wu, and Changhao Chen
    In 2022 IEEE/SICE International Symposium on System Integration (SII), Oct 2022
  3. DevNet: Self-supervised Monocular Depth Learning via Density Volume Construction
    Kaichen Zhou, Lanqing Hong, Changhao Chen, Hang Xu, Chaoqiang Ye, Qingyong Hu, and Zhenguo Li
    In 2022 European Conference on Computer Vision (ECCV-2022), Oct 2022
  4. EMA-VIO: Deep Visual-Inertial Odometry with External Memory Attention
    Zheming Tu, Changhao Chen, Xianfei Pan, Ruochen Liu, Jiarui Cui, and Jun Mao
    IEEE Sensors Journal, Oct 2022
  5. A Reliable Indoor Pedestrian Positioning Method Considering the Topological Map Constraints
    Chaoqun Chu, Jun Mao, Xianfei Pan, Zheming Tu, and Changhao Chen
    In 2022 41st Chinese Control Conference (CCC), Oct 2022
  6. Multimodal learning of audio-visual speech recognition with liquid state machine
    Xuhu Yu, Lei Wang, Changhao Chen, Junbo Tie, and Shasha Guo
    In International Conference on Neural Information Processing, Oct 2022
  7. Deep Learning Based Visual-Inertial Odometry with External Attention Mechanism
    Zheming Tu, Changhao Chen, Xianfei Pan, Zongyang Chen, and Chaoqun Chu
    In International Conference on Guidance, Navigation and Control, Oct 2022

2021

  1. dynanet.png
    DynaNet: Neural Kalman dynamical model for motion estimation and prediction
    Changhao Chen, Chris Xiaoxuan Lu, Bing Wang, Niki Trigoni, and Andrew Markham
    IEEE Transactions on Neural Networks and Learning Systems (TNNLS), Oct 2021
  2. Pointloc: Deep pose regressor for lidar point cloud localization
    Wei Wang, Bing Wang, Peijun Zhao, Changhao Chen, Ronald Clark, Bo Yang, Andrew Markham, and Niki Trigoni
    IEEE Sensors Journal, Oct 2021
  3. VMLoc: Variational Fusion For Learning-Based Multimodal Camera Localization
    Kaichen Zhou, Changhao Chen, Bing Wang, Muhamad Risqi U Saputra, Niki Trigoni, and Andrew Markham
    In The Thirty-Fifth AAAI Conference on Artificial Intelligence (AAAI-2021), Oct 2021
  4. 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 others
    In 2021 International Conference on Computer Vision (ICCV-2021), Oct 2021
  5. 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, Oct 2021
  6. Contrastive learning of zero-velocity detection for pedestrian inertial navigation
    Ze Chen, Xianfei Pan, Changhao Chen, and Meiping Wu
    IEEE Sensors Journal, Oct 2021

2020

  1. journal_ionet.png
    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 Transactions on Mobile Computing (TMC), Oct 2020
  2. AtLoc: Attention Guided Camera Localization
    Bing Wang, Changhao Chen, Chris Xiaoxuan Lu, Peijun Zhao, Niki Trigoni, and Andrew Markham
    In The Thirty-Four AAAI Conference on Artificial Intelligence (AAAI), Oct 2020
  3. DeepTIO: A Deep Thermal-Inertial Odometry with Visual Hallucination
    Muhamad Risqi U Saputra, Pedro PB Gusmao, Chris Xiaoxuan Lu, Yasin Almalioglu, Stefano Rosa, Changhao Chen, Johan Wahlström, Wei Wang, Andrew Markham, and Niki Trigoni
    IEEE Robotics and Automation Letters, Oct 2020
  4. Deep Learning based Pedestrian Inertial Navigation: Methods, Dataset and On-Device Inference
    Changhao Chen, Peijun Zhao, Chris Xiaoxuan Lu, Wei Wang, Andrew Markham, and Niki Trigoni
    IEEE Internet of Things Journal, Oct 2020
  5. Learning with stochastic guidance for robot navigation
    Linhai Xie, Yishu Miao, Sen Wang, Phil Blunsom, Zhihua Wang, Changhao Chen, Andrew Markham, and Niki Trigoni
    IEEE transactions on neural networks and learning systems, Oct 2020
  6. 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 International Conference on Robotics and Automation (ICRA), Oct 2020
  7. 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 Proceedings of the 18th International Conference on Mobile Systems, Applications, and Services, Oct 2020
  8. milliEgo: single-chip mmWave radar aided egomotion estimation via deep sensor fusion
    Chris Xiaoxuan Lu, Muhamad Risqi U Saputra, Peijun Zhao, Yasin Almalioglu, Pedro PB De Gusmao, Changhao Chen, Ke Sun, Niki Trigoni, and Andrew Markham
    In Proceedings of the 18th Conference on Embedded Networked Sensor Systems, Oct 2020
  9. Learning methods for robust localization
    Changhao Chen
    University of Oxford (United Kingdom), Oct 2020

2019

  1. 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), Oct 2019
  2. 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 The IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Oct 2019
  3. 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 International Conference on Distributed Computing in Sensor Systems (DCOSS), Oct 2019
  4. 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 Stankovic
    In The World Wide Web Conference（WWW), Oct 2019
  5. 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 of Things Journal, Oct 2019
  6. iSCAN: automatic speaker adaptation via iterative cross-modality association
    Yuanbo Xiangli, Chris Xiaoxuan Lu, Peijun Zhao, Changhao Chen, and Andrew Markham
    In Adjunct Proceedings of the 2019 ACM International Joint Conference on Pervasive and Ubiquitous Computing and Proceedings of the 2019 ACM International Symposium on Wearable Computers, Oct 2019
  7. DeepPCO: End-to-End Point Cloud Odometry through Deep Parallel Neural Network
    Wei Wang, Muhamad Risqi U Saputra, Peijun Zhao, Pedro Gusmao, Bo Yang, Changhao Chen, Andrew Markham, and Niki Trigoni
    In The IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2019
  8. Deep Gait Recognition via Millimeter Wave
    Peijun Zhao, Chris Xiaoxuan Lu, Jianan Wang, Changhao Chen, Wei Wang, Niki Trigoni, and Andrew Markham
    In International Conference on Embedded Wireless Systems and Networks (EWSN), Oct 2019

2018

  1. IONet: Learning to Cure the Curse of Drift in Inertial Odometry
    Changhao Chen, Xiaoxuan Lu, Andrew Markham, and Niki Trigoni
    In The Thirty-Second AAAI Conference on Artificial Intelligence (AAAI), Oct 2018
  2. OxIOD: The dataset for deep inertial odometry
    Changhao Chen, Peijun Zhao, Chris Xiaoxuan Lu, Wei Wang, Andrew Markham, and Niki Trigoni
    Technical Report, Oct 2018
  3. 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 International Conference on Mobile computing and Networking (MobiCom), Oct 2018
  4. Transferring physical motion between domains for neural inertial tracking
    Changhao Chen, Yishu Miao, Chris Xiaoxuan Lu, Phil Blunsom, Andrew Markham, and Niki Trigoni
    In NeurIPS 2018 Workshop on Modeling the Physical World: Perception, Learning, and Control, Oct 2018