132 research outputs found
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Towards secure & robust PNT for automated systems
This dissertation makes four contributions in support of secure and robust position, navigation, and timing (PNT) for automated systems. The first two relate to PNT security while the latter two address robust positioning for automated ground vehicles.
The first contribution is a fundamental theory for provably-secure clock synchronization between two agents in a distributed automated system. All one-way synchronization protocols, such as those based on the Global Positioning System (GPS) and other Global Navigation Satellite Systems (GNSS), are shown to be vulnerable to man-in-the-middle delay attacks. This contribution is the first to identify the necessary and sufficient conditions for provably secure clock synchronization.
The second contribution, also related to PNT security, is a three-year study of the world-wide GPS interference landscape based on data from a dual-frequency GNSS receiver operating continuously on the International Space Station (ISS). This work is the first publicly-reported space-based survey of GNSS interference, and unveils previously-unreported GNSS interference activity.
The third contribution is a novel ground vehicle positioning technique that is robust to GNSS signal blockage, poor lighting conditions, and adverse weather events such as heavy rain and dense fog. The technique relies on sensors that are commonly available on automated vehicles and are insensitive to lighting and inclement weather: automotive radar, low-cost inertial measurement units (IMUs), and GNSS. Remarkably, it is shown that, given a prior radar map, the proposed technique operating on data from off-the-shelf all-weather automotive sensors can maintain sub-50-cm horizontal position accuracy during 60 min of GNSS-denied driving in downtown Austin, TX.
This dissertation’s final contribution is an analysis and demonstration of the feasibility of crowd-sourced digital mapping for automated vehicles. Localization techniques, such as the one described in the previous contribution, rely on such digital maps for accuracy and robustness. A key enabler for large-scale up-to-date maps is enlisting the help of the very consumer vehicles that need the map to build and update it. A method for fusing multi-session vision data into a unified digital map is developed. The asymptotic limit of such a map’s globally-referenced position accuracy is explored for the case in which the mapping agents rely on low-cost GNSS receivers performing standard code-phase-based navigation. Experimental validation along a semi-urban route shows that low-cost consumer vehicles incrementally tighten the accuracy of the jointly-optimized digital map over time enough to support sub-lane-level positioning in a global frame of reference.Electrical and Computer Engineerin
SLICT: Multi-input Multi-scale Surfel-Based Lidar-Inertial Continuous-Time Odometry and Mapping
While feature association to a global map has significant benefits, to keep
the computations from growing exponentially, most lidar-based odometry and
mapping methods opt to associate features with local maps at one voxel scale.
Taking advantage of the fact that surfels (surface elements) at different voxel
scales can be organized in a tree-like structure, we propose an octree-based
global map of multi-scale surfels that can be updated incrementally. This
alleviates the need for recalculating, for example, a k-d tree of the whole map
repeatedly. The system can also take input from a single or a number of
sensors, reinforcing the robustness in degenerate cases. We also propose a
point-to-surfel (PTS) association scheme, continuous-time optimization on PTS
and IMU preintegration factors, along with loop closure and bundle adjustment,
making a complete framework for Lidar-Inertial continuous-time odometry and
mapping. Experiments on public and in-house datasets demonstrate the advantages
of our system compared to other state-of-the-art methods. To benefit the
community, we release the source code and dataset at
https://github.com/brytsknguyen/slict
GNSS/Multi-Sensor Fusion Using Continuous-Time Factor Graph Optimization for Robust Localization
Accurate and robust vehicle localization in highly urbanized areas is
challenging. Sensors are often corrupted in those complicated and large-scale
environments. This paper introduces GNSS-FGO, an online and global trajectory
estimator that fuses GNSS observations alongside multiple sensor measurements
for robust vehicle localization. In GNSS-FGO, we fuse asynchronous sensor
measurements into the graph with a continuous-time trajectory representation
using Gaussian process regression. This enables querying states at arbitrary
timestamps so that sensor observations are fused without requiring strict state
and measurement synchronization. Thus, the proposed method presents a
generalized factor graph for multi-sensor fusion. To evaluate and study
different GNSS fusion strategies, we fuse GNSS measurements in loose and tight
coupling with a speed sensor, IMU, and lidar-odometry. We employed datasets
from measurement campaigns in Aachen, Duesseldorf, and Cologne in experimental
studies and presented comprehensive discussions on sensor observations,
smoother types, and hyperparameter tuning. Our results show that the proposed
approach enables robust trajectory estimation in dense urban areas, where the
classic multi-sensor fusion method fails due to sensor degradation. In a test
sequence containing a 17km route through Aachen, the proposed method results in
a mean 2D positioning error of 0.19m for loosely coupled GNSS fusion and 0.48m
while fusing raw GNSS observations with lidar odometry in tight coupling.Comment: Revision of arXiv:2211.0540
Deep learning in remote sensing: a review
Standing at the paradigm shift towards data-intensive science, machine
learning techniques are becoming increasingly important. In particular, as a
major breakthrough in the field, deep learning has proven as an extremely
powerful tool in many fields. Shall we embrace deep learning as the key to all?
Or, should we resist a 'black-box' solution? There are controversial opinions
in the remote sensing community. In this article, we analyze the challenges of
using deep learning for remote sensing data analysis, review the recent
advances, and provide resources to make deep learning in remote sensing
ridiculously simple to start with. More importantly, we advocate remote sensing
scientists to bring their expertise into deep learning, and use it as an
implicit general model to tackle unprecedented large-scale influential
challenges, such as climate change and urbanization.Comment: Accepted for publication IEEE Geoscience and Remote Sensing Magazin
A Meta-Review of Indoor Positioning Systems
An accurate and reliable Indoor Positioning System (IPS) applicable to most indoor scenarios has been sought for many years. The number of technologies, techniques, and approaches in general used in IPS proposals is remarkable. Such diversity, coupled with the lack of strict and verifiable evaluations, leads to difficulties for appreciating the true value of most proposals. This paper provides a meta-review that performed a comprehensive compilation of 62 survey papers in the area of indoor positioning. The paper provides the reader with an introduction to IPS and the different technologies, techniques, and some methods commonly employed. The introduction is supported by consensus found in the selected surveys and referenced using them. Thus, the meta-review allows the reader to inspect the IPS current state at a glance and serve as a guide for the reader to easily find further details on each technology used in IPS. The analyses of the meta-review contributed with insights on the abundance and academic significance of published IPS proposals using the criterion of the number of citations. Moreover, 75 works are identified as relevant works in the research topic from a selection of about 4000 works cited in the analyzed surveys
Vote from the Center: 6 DoF Pose Estimation in RGB-D Images by Radial Keypoint Voting
We propose a novel keypoint voting scheme based on intersecting spheres, that
is more accurate than existing schemes and allows for a smaller set of more
disperse keypoints. The scheme is based upon the distance between points, which
as a 1D quantity can be regressed more accurately than the 2D and 3D vector and
offset quantities regressed in previous work, yielding more accurate keypoint
localization. The scheme forms the basis of the proposed RCVPose method for 6
DoF pose estimation of 3D objects in RGB-D data, which is particularly
effective at handling occlusions. A CNN is trained to estimate the distance
between the 3D point corresponding to the depth mode of each RGB pixel, and a
set of 3 disperse keypoints defined in the object frame. At inference, a sphere
centered at each 3D point is generated, of radius equal to this estimated
distance. The surfaces of these spheres vote to increment a 3D accumulator
space, the peaks of which indicate keypoint locations. The proposed radial
voting scheme is more accurate than previous vector or offset schemes, and is
robust to disperse keypoints. Experiments demonstrate RCVPose to be highly
accurate and competitive, achieving state-of-the-art results on the LINEMOD
99.7% and YCB-Video 97.2% datasets, notably scoring +7.9% higher (71.1%) than
previous methods on the challenging Occlusion LINEMOD dataset
Road Surface Feature Extraction and Reconstruction of Laser Point Clouds for Urban Environment
Automakers are developing end-to-end three-dimensional (3D) mapping system for Advanced Driver Assistance Systems (ADAS) and autonomous vehicles (AVs). Using geomatics, artificial intelligence, and SLAM (Simultaneous Localization and Mapping) systems to handle all stages of map creation, sensor calibration and alignment. It is crucial to have a system highly accurate and efficient as it is an essential part of vehicle controls. Such mapping requires significant resources to acquire geographic information (GIS and GPS), optical laser and radar spectroscopy, Lidar, and 3D modeling applications in order to extract roadway features (e.g., lane markings, traffic signs, road-edges) detailed enough to construct a “base map”. To keep this map current, it is necessary to update changes due to occurring events such as construction changes, traffic patterns, or growth of vegetation. The information of the road play a very important factor in road traffic safety and it is essential for for guiding autonomous vehicles (AVs), and prediction of upcoming road situations within AVs. The data size of the map is extensive due to the level of information provided with different sensor modalities for that reason a data optimization and extraction from three-dimensional (3D) mobile laser scanning (MLS) point clouds is presented in this thesis. The research shows the proposed hybrid filter configuration together with the dynamic developed mechanism provides significant reduction of the point cloud data with reduced computational or size constraints. The results obtained in this work are proven by a real-world system
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