You stick a vacuum line down the dipstick hole, suck out all the oil, replace the filter, fill the oil, put the dipstick back in. I didn't trust it the first time, so I sucked the oil out and then removed the drain plug to see how much oil I was missing; it was less than a shot glass worth.
Brake jobs don't require putting your body under the rotor/hub, making the risk of serious injury low. You could use jackstands, but I generally don't as I don't have my head or limbs in a crush area.
One tip: To aid removal next time, use Dow DC-4 silicone grease on the filter gasket (rather than motor oil or nothing) and the oil filter gasket just needs a little crush; lots of people over-tighten filters, making them needlessly hard to remove. Contact plus a half turn will put about 1/32" of crush on the gasket which is enough to seal.