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Our work is motivated by environmental monitoring tasks, where finding the global maxima (i.e., hotspot) of a spatially varying field is crucial. We investigate the problem of identifying the hotspot for fields that can be sensed using an…
The problem of identifying the 3D pose of a known object from a given 2D image has important applications in Computer Vision. Our proposed method of registering a 3D model of a known object on a given 2D photo of the object has numerous…
Planes are generally used in 3D reconstruction for depth sensors, such as RGB-D cameras and LiDARs. This paper focuses on the problem of estimating the optimal planes and sensor poses to minimize the point-to-plane distance. The resulting…
Recently we have witnessed progress in hiding road vehicles against object detectors through adversarial camouflage in the digital world. The extension of this technique to the physical world is crucial for testing the robustness of…
Modern driver assistance systems rely on a wide range of sensors (RADAR, LIDAR, ultrasound and cameras) for scene understanding and prediction. These sensors are typically used for detecting traffic participants and scene elements required…
This paper analytically characterizes optimal sensor placements for target localization and tracking in 2D and 3D. Three types of sensors are considered: bearing-only, range-only, and received-signal-strength. The optimal placement problems…
The classical setting of optimal control theory assumes full knowledge of the process dynamics and the costs associated with every control strategy. The problem becomes much harder if the controller only knows a finite set of possible…
Hamilton-Jacobi (HJ) reachability analysis has been developed over the past decades into a widely-applicable tool for determining goal satisfaction and safety verification in nonlinear systems. While HJ reachability can be formulated very…
In this paper, we present a comprehensive survey of the current trends focusing specifically on physical adversarial attacks. We aim to provide a thorough understanding of the concept of physical adversarial attacks, analyzing their key…
We propose a novel formulation for approximating reachable sets through a minimum discounted reward optimal control problem. The formulation yields a continuous solution that can be obtained by solving a Hamilton-Jacobi equation.…
Mobile devices equipped with a multi-camera system and an inertial measurement unit (IMU) are widely used nowadays, such as self-driving cars. The task of relative pose estimation using visual and inertial information has important…
We present a multi-stage optimization method for efficient sensor deployment in traffic surveillance scenarios. Based on a genetic optimization scheme, our algorithm places an optimal number of roadside sensors to obtain full road coverage…
The problem of finding the shortest path for a vehicle visiting a given sequence of target points subject to the motion constraints of the vehicle is an important problem that arises in several monitoring and surveillance applications…
Illuminating a scene with artificial light is a prerequisite for seeing in dark environments. However, nonuniform and dynamic illumination can deteriorate or even break computer vision approaches, for instance when operating a robot with…
Deep learning classifiers are now known to have flaws in the representations of their class. Adversarial attacks can find a human-imperceptible perturbation for a given image that will mislead a trained model. The most effective methods to…
A new framework for formulating reachability problems with competing inputs, nonlinear dynamics and state constraints as optimal control problems is developed. Such reach-avoid problems arise in, among others, the study of safety problems…
The fundamental goal assignment problem for a multi-robot application aims to assign a unique goal to each robot while ensuring collision-free paths, minimizing the total movement cost. A plausible algorithmic solution to this NP-hard…
The inverse reflector problem aims to design a freeform reflecting surface that can direct the light from a specified source to produce the desired illumination in the target area, which is significant in the field of geometrical…
Vehicles with driving automation are increasingly being developed for deployment across the world. However, the onboard sensing and perception capabilities of such automated or autonomous vehicles (AV) may not be sufficient to ensure safety…
Threat assessment is an important part of level 3 data fusion. Here we study a subproblem of this, worst-case risk assessment. Inspired by agent-based models used for simulation of trail formation for urban planning, we use ant colony…