2,305 research outputs found
IoT Anomaly Detection Methods and Applications: A Survey
Ongoing research on anomaly detection for the Internet of Things (IoT) is a
rapidly expanding field. This growth necessitates an examination of application
trends and current gaps. The vast majority of those publications are in areas
such as network and infrastructure security, sensor monitoring, smart home, and
smart city applications and are extending into even more sectors. Recent
advancements in the field have increased the necessity to study the many IoT
anomaly detection applications. This paper begins with a summary of the
detection methods and applications, accompanied by a discussion of the
categorization of IoT anomaly detection algorithms. We then discuss the current
publications to identify distinct application domains, examining papers chosen
based on our search criteria. The survey considers 64 papers among recent
publications published between January 2019 and July 2021. In recent
publications, we observed a shortage of IoT anomaly detection methodologies,
for example, when dealing with the integration of systems with various sensors,
data and concept drifts, and data augmentation where there is a shortage of
Ground Truth data. Finally, we discuss the present such challenges and offer
new perspectives where further research is required.Comment: 22 page
Learning Off-Road Terrain Traversability with Self-Supervisions Only
Estimating the traversability of terrain should be reliable and accurate in
diverse conditions for autonomous driving in off-road environments. However,
learning-based approaches often yield unreliable results when confronted with
unfamiliar contexts, and it is challenging to obtain manual annotations
frequently for new circumstances. In this paper, we introduce a method for
learning traversability from images that utilizes only self-supervision and no
manual labels, enabling it to easily learn traversability in new circumstances.
To this end, we first generate self-supervised traversability labels from past
driving trajectories by labeling regions traversed by the vehicle as highly
traversable. Using the self-supervised labels, we then train a neural network
that identifies terrains that are safe to traverse from an image using a
one-class classification algorithm. Additionally, we supplement the limitations
of self-supervised labels by incorporating methods of self-supervised learning
of visual representations. To conduct a comprehensive evaluation, we collect
data in a variety of driving environments and perceptual conditions and show
that our method produces reliable estimations in various environments. In
addition, the experimental results validate that our method outperforms other
self-supervised traversability estimation methods and achieves comparable
performances with supervised learning methods trained on manually labeled data.Comment: Accepted to IEEE Robotics and Automation Letters. Our video can be
found at https://bit.ly/3YdKan
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