Many to many mobile maps

The rapid development of mobile computing devices along with a variety of Web 2.0 social networking tools has led to a dramatic change in the way maps and other spatial displays are utilized. The evolution from stand-alone desktop GIS to the interactive, mobile devices, in which information from one or more sources and is sent to one or more sinks, is discussed. The result is access to real-time information, which is generated from both traditional sources, social networks, and other specialized geowikis. Both the benefits of many to many mobile maps and the emergence of new problems, such as understanding the needs of the user and providing appropriate context, are discussed

Computation of the optimal relative pose between overlapping grid maps through discrepancy minimization

Grid maps are a common environment representation in mobile robotics. Many Simultaneous Localization and Mapping (SLAM) solutions divide the global map into submaps, forming some kind of graph or tree to represent the structure of the environment, while the metric details are captured in the submaps. This work presents a novel algorithm that is able to compute a physically feasible relative pose between two overlapping grid maps. Our algorithm can be used for correspondence search (data association), but also for integrating negative information in a unified way. This paper proposes a discrepancy measure between two overlapping grid maps and its application in a quasi Newton optimization algorithm, with the hypothesis that minimizing such discrepancy could provide useful information for SLAM. Experimental evidence is provided showing the high potential of the algorithm

FLAT2D: Fast localization from approximate transformation into 2D

Many autonomous vehicles require precise localization into a prior map in order to support planning and to leverage semantic information within those maps (e.g. that the right lane is a turn-only lane.) A popular approach in automotive systems is to use infrared intensity maps of the ground surface to localize, making them susceptible to failures when the surface is obscured by snow or when the road is repainted. An emerging alternative is to localize based on the 3D structure around the vehicle; these methods are robust to these types of changes, but the maps are costly both in terms of storage and the computational cost of matching. In this paper, we propose a fast method for localizing based on 3D structure around the vehicle using a 2D representation. This representation retains many of the advantages of "full" matching in 3D, but comes with dramatically lower space and computational requirements. We also introduce a variation of Graph-SLAM tailored to support localization, allowing us to make use of graph-based error-recovery techniques in our localization estimate. Finally, we present real-world localization results for both an indoor mobile robotic platform and an autonomous golf cart, demonstrating that autonomous vehicles do not need full 3D matching to accurately localize in the environment

Protection of an intrusion detection engine with watermarking in ad hoc networks

Mobile ad hoc networks have received great attention in recent years, mainly due to the evolution of wireless networking and mobile computing hardware. Nevertheless, many inherent vulnerabilities exist in mobile ad hoc networks and their applications that affect the security of wireless transactions. As intrusion prevention mechanisms, such as encryption and authentication, are not sufficient we need a second line of defense, Intrusion Detection. In this pa-per we present an intrusion detection engine based on neural networks and a protection method based on watermarking techniques. In particular, we exploit information visualization and machine learning techniques in order to achieve intrusion detection and we authenticate the maps produced by the application of the intelligent techniques using a novel combined watermarking embedding method. The performance of the proposed model is evaluated under different traffic conditions, mobility patterns and visualization metrics

EpiCollect+: linking smartphones to web applications for complex data collection projects.

© 2014 Aanensen DM et al.Previously, we have described the development of the generic mobile phone data gathering tool, EpiCollect, and an associated web application, providing two-way communication between multiple data gatherers and a project database. This software only allows data collection on the phone using a single questionnaire form that is tailored to the needs of the user (including a single GPS point and photo per entry), whereas many applications require a more complex structure, allowing users to link a series of forms in a linear or branching hierarchy, along with the addition of any number of media types accessible from smartphones and/or tablet devices (e.g., GPS, photos, videos, sound clips and barcode scanning). A much enhanced version of EpiCollect has been developed (EpiCollect+). The individual data collection forms in EpiCollect+ provide more design complexity than the single form used in EpiCollect, and the software allows the generation of complex data collection projects through the ability to link many forms together in a linear (or branching) hierarchy. Furthermore, EpiCollect+ allows the collection of multiple media types as well as standard text fields, increased data validation and form logic. The entire process of setting up a complex mobile phone data collection project to the specification of a user (project and form definitions) can be undertaken at the EpiCollect+ website using a simple drag and drop procedure, with visualisation of the data gathered using Google Maps and charts at the project website. EpiCollect+ is suitable for situations where multiple users transmit complex data by mobile phone (or other Android devices) to a single project web database and is already being used for a range of field projects, particularly public health projects in sub-Saharan Africa. However, many uses can be envisaged from education, ecology and epidemiology to citizen science

A federated approach to Android malware classification through Perm-Maps

In the last decades, mobile-based apps have been increasingly used in several application fields for many purposes involving a high number of human activities. Unfortunately, in addition to this, the number of cyber-attacks related to mobile platforms is increasing day-by-day. However, although advances in Artificial Intelligence science have allowed addressing many aspects of the problem, malware classification tasks are still challenging. For this reason, the following paper aims to propose new special features, called permission maps (Perm-Maps), which combine information related to the Android permissions and their corresponding severity levels. Such features have proven to be very effective in classifying different malware families through the usage of a convolutional neural network. Also, the advantages introduced by the Perm-Maps have been enhanced by a training process based on a federated logic. Experimental results show that the proposed approach achieves up to a 3% improvement in average accuracy with respect to J48 trees and Naive Bayes classifier, and up to 16% compared to multi-layer perceptron classifier. Furthermore, the combined use of Perm-Maps and federated logic allows dealing with unbalanced training datasets with low computational efforts

Distributed Time-Sensitive Task Selection in Mobile Crowdsensing

With the rich set of embedded sensors installed in smartphones and the large number of mobile users, we witness the emergence of many innovative commercial mobile crowdsensing applications that combine the power of mobile technology with crowdsourcing to deliver time-sensitive and location-dependent information to their customers. Motivated by these real-world applications, we consider the task selection problem for heterogeneous users with different initial locations, movement costs, movement speeds, and reputation levels. Computing the social surplus maximization task allocation turns out to be an NP-hard problem. Hence we focus on the distributed case, and propose an asynchronous and distributed task selection (ADTS) algorithm to help the users plan their task selections on their own. We prove the convergence of the algorithm, and further characterize the computation time for users' updates in the algorithm. Simulation results suggest that the ADTS scheme achieves the highest Jain's fairness index and coverage comparing with several benchmark algorithms, while yielding similar user payoff to a greedy centralized benchmark. Finally, we illustrate how mobile users coordinate under the ADTS scheme based on some practical movement time data derived from Google Maps