High-Precision Localization Using Ground Texture

Location-aware applications play an increasingly critical role in everyday life. However, satellite-based localization (e.g., GPS) has limited accuracy and can be unusable in dense urban areas and indoors. We introduce an image-based global localization system that is accurate to a few millimeters and performs reliable localization both indoors and outside. The key idea is to capture and index distinctive local keypoints in ground textures. This is based on the observation that ground textures including wood, carpet, tile, concrete, and asphalt may look random and homogeneous, but all contain cracks, scratches, or unique arrangements of fibers. These imperfections are persistent, and can serve as local features. Our system incorporates a downward-facing camera to capture the fine texture of the ground, together with an image processing pipeline that locates the captured texture patch in a compact database constructed offline. We demonstrate the capability of our system to robustly, accurately, and quickly locate test images on various types of outdoor and indoor ground surfaces

A Geometrically Constrained Point Matching based on View-invariant Cross-ratios, and Homography

In computer vision, finding point correspondence among images plays an important role in many applications, such as image stitching, image retrieval, visual localization, etc. Most of the research worksfocus on the matching of local feature before a sampling method is employed, such as RANSAC, to verify initial matching results via repeated fitting of certain global transformation among the images. However, incorrect matches may still exist, while careful examination of such problems is often skipped. Accordingly, a geometrically constrained algorithm is proposed in this work to verify the correctness of initially matched SIFT keypoints based on view-invariant cross-ratios (CRs). By randomly forming pentagons from these keypoints and matching their shape and location among images with CRs, robust planar region estimation can be achieved efficiently for the above verification, while correct and incorrect matches of keypoints can be examined easily with respect to those shape and location matched pentagons. Experimental results show that satisfactory results can be obtained for various scenes with single as well as multiple planar regions

Pentagon-Match (PMatch): Identification of View-Invariant Planar Feature for Local Feature Matching-Based Homography Estimation

In computer vision, finding correct point correspondence among images plays an important role in many applications, such as image stitching, image retrieval, visual localization, etc. Most of the research works focus on the matching of local feature before a sampling method is employed, such as RANSAC, to verify initial matching results via repeated fitting of certain global transformation among the images. However, incorrect matches may still exist. Thus, a novel sampling scheme, Pentagon-Match (PMatch), is proposed in this work to verify the correctness of initially matched keypoints using pentagons randomly sampled from them. By ensuring shape and location of these pentagons are view-invariant with various evaluations of cross-ratio (CR), incorrect matches of keypoint can be identified easily with homography estimated from correctly matched pentagons. Experimental results show that highly accurate estimation of homography can be obtained efficiently for planar scenes of the HPatches dataset, based on keypoint matching results provided by LoFTR. Besides, accurate outlier identification for the above matching results and possible extension of the approach for multi-plane situation are also demonstrated.Comment: arXiv admin note: text overlap with arXiv:2211.0300

Sensor Data Integrity Verification for Real-time and Resource Constrained Systems

Sensors are used in multiple applications that touch our lives and have become an integral part of modern life. They are used in building intelligent control systems in various industries like healthcare, transportation, consumer electronics, military, etc. Many mission-critical applications require sensor data to be secure and authentic. Sensor data security can be achieved using traditional solutions like cryptography and digital signatures, but these techniques are computationally intensive and cannot be easily applied to resource constrained systems. Low complexity data hiding techniques, on the contrary, are easy to implement and do not need substantial processing power or memory. In this applied research, we use and configure the established low complexity data hiding techniques from the multimedia forensics domain. These techniques are used to secure the sensor data transmissions in resource constrained and real-time environments such as an autonomous vehicle. We identify the areas in an autonomous vehicle that require sensor data integrity and propose suitable water-marking techniques to verify the integrity of the data and evaluate the performance of the proposed method against different attack vectors. In our proposed method, sensor data is embedded with application specific metadata and this process introduces some distortion. We analyze this embedding induced distortion and its impact on the overall sensor data quality to conclude that watermarking techniques, when properly configured, can solve sensor data integrity verification problems in an autonomous vehicle.Ph.D.College of Engineering & Computer ScienceUniversity of Michigan-Dearbornhttp://deepblue.lib.umich.edu/bitstream/2027.42/167387/3/Raghavendar Changalvala Final Dissertation.pdfDescription of Raghavendar Changalvala Final Dissertation.pdf : Dissertatio

Robust filtering schemes for machine learning systems to defend Adversarial Attack

Robust filtering schemes for machine learning systems to defend Adversarial Attac

Reducing Multiple Occurrences of Meta-Mark Selection in Relational Data Watermarking

Contrary to multimedia data watermarking approaches, it is not recommended that relational data watermarking techniques consider sequential selection for marks in the watermark and embedding locations in the protected digital asset. Indeed, considering the database relations' elements, i.e., tuples and attributes, when watermarking techniques are based on sequential processes, watermark detection can be easily compromised by performing subset reverse order attacks. As a result, attackers can obtain owner evidence-free high-quality data since no data modifications for mark removing are required for the malicious operation to succeed. A standard solution to this problem has been pseudo-random selection, which often leads to choosing the same marks multiple times, and ignoring others, thus compromising the embedding of the entire watermark. This work proposes an engine that contributes to controlling marks' recurrent selection, allowing marks excluded by previous approaches to be considered and detected with 100% accuracy. The experiments performed show a dramatic improvement of the embedded watermark quality when the proposed engine is included in watermarking techniques' architecture. They also provide evidence that this proposal leads to higher resilience against common malicious operations such as subset and superset attacks

An improved image steganography scheme based on distinction grade value and secret message encryption

Steganography is an emerging and greatly demanding technique for secure information communication over the internet using a secret cover object. It can be used for a wide range of applications such as safe circulation of secret data in intelligence, industry, health care, habitat, online voting, mobile banking and military. Commonly, digital images are used as covers for the steganography owing to their redundancy in the representation, making them hidden to the intruders, hackers, adversaries, unauthorized users. Still, any steganography system launched over the Internet can be cracked upon recognizing the stego cover. Thus, the undetectability that involves data imperceptibility or concealment and security is the significant trait of any steganography system. Presently, the design and development of an effective image steganography system are facing several challenges including low capacity, poor robustness and imperceptibility. To surmount such limitations, it is important to improve the capacity and security of the steganography system while maintaining a high signal-to-noise ratio (PSNR). Based on these factors, this study is aimed to design and develop a distinction grade value (DGV) method to effectively embed the secret data into a cover image for achieving a robust steganography scheme. The design and implementation of the proposed scheme involved three phases. First, a new encryption method called the shuffle the segments of secret message (SSSM) was incorporated with an enhanced Huffman compression algorithm to improve the text security and payload capacity of the scheme. Second, the Fibonacci-based image transformation decomposition method was used to extend the pixel's bit from 8 to 12 for improving the robustness of the scheme. Third, an improved embedding method was utilized by integrating a random block/pixel selection with the DGV and implicit secret key generation for enhancing the imperceptibility of the scheme. The performance of the proposed scheme was assessed experimentally to determine the imperceptibility, security, robustness and capacity. The standard USC-SIPI images dataset were used as the benchmarking for the performance evaluation and comparison of the proposed scheme with the previous works. The resistance of the proposed scheme was tested against the statistical, X2 , Histogram and non-structural steganalysis detection attacks. The obtained PSNR values revealed the accomplishment of higher imperceptibility and security by the proposed DGV scheme while a higher capacity compared to previous works. In short, the proposed steganography scheme outperformed the commercially available data hiding schemes, thereby resolved the existing issues