Robust Photogeometric Localization over Time for Map-Centric Loop Closure

Map-centric SLAM is emerging as an alternative of conventional graph-based SLAM for its accuracy and efficiency in long-term mapping problems. However, in map-centric SLAM, the process of loop closure differs from that of conventional SLAM and the result of incorrect loop closure is more destructive and is not reversible. In this paper, we present a tightly coupled photogeometric metric localization for the loop closure problem in map-centric SLAM. In particular, our method combines complementary constraints from LiDAR and camera sensors, and validates loop closure candidates with sequential observations. The proposed method provides a visual evidence-based outlier rejection where failures caused by either place recognition or localization outliers can be effectively removed. We demonstrate the proposed method is not only more accurate than the conventional global ICP methods but is also robust to incorrect initial pose guesses.Comment: To Appear in IEEE ROBOTICS AND AUTOMATION LETTERS, ACCEPTED JANUARY 201

Scan statistics for the online detection of locally anomalous subgraphs

Identifying anomalies in computer networks is a challenging and complex problem. Often, anomalies occur in extremely local areas of the network. Locality is complex in this setting, since we have an underlying graph structure. To identify local anomalies, we introduce a scan statistic for data extracted from the edges of a graph over time. In the computer network setting, the data on these edges are multivariate measures of the communications between two distinct machines, over time. We describe two shapes for capturing locality in the graph: the star and the k-path. While the star shape is not new to the literature, the path shape, when used as a scan window, appears to be novel. Both of these shapes are motivated by hacker behaviors observed in real attacks. A hacker who is using a single central machine to examine other machines creates a star-shaped anomaly on the edges emanating from the central node. Paths represent traversal of a hacker through a network, using a set of machines in sequence. To identify local anomalies, these shapes are enumerated over the entire graph, over a set of sliding time windows. Local statistics in each window are compared with their historic behavior to capture anomalies within the window. These local statistics are model-based. To capture the communications between computers, we have applied two different models, observed and hidden Markov models, to each edge in the network. These models have been effective in handling various aspects of this type of data, but do not completely describe the data. Therefore, we also present ongoing work in the modeling of host-to-host communications in a computer network. Data speeds on larger networks require online detection to be nimble. We describe a full anomaly detection system, which has been applied to a corporate sized network and achieves better than real-time analysis speed. We present results on simulated data whose parameters were estimated from real network data. In addition, we present a result from our analysis of a real, corporate-sized network data set. These results are very encouraging, since the detection corresponded to exactly the type of behavior we hope to detect

Earthquake Arrival Association with Backprojection and Graph Theory

The association of seismic wave arrivals with causative earthquakes becomes progressively more challenging as arrival detection methods become more sensitive, and particularly when earthquake rates are high. For instance, seismic waves arriving across a monitoring network from several sources may overlap in time, false arrivals may be detected, and some arrivals may be of unknown phase (e.g., P- or S-waves). We propose an automated method to associate arrivals with earthquake sources and obtain source locations applicable to such situations. To do so we use a pattern detection metric based on the principle of backprojection to reveal candidate sources, followed by graph-theory-based clustering and an integer linear optimization routine to associate arrivals with the minimum number of sources necessary to explain the data. This method solves for all sources and phase assignments simultaneously, rather than in a sequential greedy procedure as is common in other association routines. We demonstrate our method on both synthetic and real data from the Integrated Plate Boundary Observatory Chile (IPOC) seismic network of northern Chile. For the synthetic tests we report results for cases with varying complexity, including rates of 500 earthquakes/day and 500 false arrivals/station/day, for which we measure true positive detection accuracy of > 95%. For the real data we develop a new catalog between January 1, 2010 - December 31, 2017 containing 817,548 earthquakes, with detection rates on average 279 earthquakes/day, and a magnitude-of-completion of ~M1.8. A subset of detections are identified as sources related to quarry and industrial site activity, and we also detect thousands of foreshocks and aftershocks of the April 1, 2014 Mw 8.2 Iquique earthquake. During the highest rates of aftershock activity, > 600 earthquakes/day are detected in the vicinity of the Iquique earthquake rupture zone