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Recently, convolutional neural network (CNN)-based channel estimation (CE) for massive multiple-input multiple-output communication systems has achieved remarkable success. However, complexity even needs to be reduced, and robustness can even be improved. Meanwhile, existing methods do not accurately explain which channel features help the denoising of CNNs. In this paper, we first compare the strengths and weaknesses of CNN-based CE in different domains. When complexity is limited, the channel sparsity in the angle-delay domain improves denoising and robustness whereas large noise power and pilot contamination are handled well in the spatial-frequency domain. Thus, we develop a novel network, called dual CNN, to exploit the advantages in the two domains. Furthermore, we introduce an extra neural network, called HyperNet, which learns to detect scenario changes from the same input …