Related papers: Spoofing-Resilient LiDAR-GPS Factor Graph Localiza…
With the ability of providing direct and accurate enough range measurements, light detection and ranging (LiDAR) is playing an essential role in localization and detection for autonomous vehicles. Since single LiDAR suffers from hardware…
Autonomous driving systems are set to become a reality in transport systems and, so, maximum acceptance is being sought among users. Currently, the most advanced architectures require driver intervention when functional system failures or…
Global Navigation Satellite System (GNSS) provides Positioning, Navigation, and Timing (PNT) services for autonomous vehicles (AVs) using satellites and radio communications. Due to the lack of encryption, open-access of the coarse…
Deep neural networks (DNNs) are increasingly integrated into LiDAR (Light Detection and Ranging)-based perception systems for autonomous vehicles (AVs), requiring robust performance under adversarial conditions. We aim to address the…
Currently, visual odometry and LIDAR odometry are performing well in pose estimation in some typical environments, but they still cannot recover the localization state at high speed or reduce accumulated drifts. In order to solve these…
In this paper, we present a factor-graph LiDAR-SLAM system which incorporates a state-of-the-art deeply learned feature-based loop closure detector to enable a legged robot to localize and map in industrial environments. These facilities…
LiDAR sensors are widely used in autonomous driving due to the reliable 3D spatial information. However, the data of LiDAR is sparse and the frequency of LiDAR is lower than that of cameras. To generate denser point clouds spatially and…
Global Navigation Satellite Systems enable precise localization and timing even for highly mobile devices, but legacy implementations provide only limited support for the new generation of security-enhanced signals. Inertial Measurement…
The vulnerability of the Global Positioning System (GPS) against spoofing is known for quite some time. Also, the positioning and navigation of most semi-autonomous and autonomous drones are dependent on Global Navigation Satellite System…
Accurate and robust localization is crucial for supporting high-level driving automation and safety. Modern localization solutions rely on various sensors, among which GPS has been and will continue to be essential. However, GPS can be…
Road detection is a critically important task for self-driving cars. By employing LiDAR data, recent works have significantly improved the accuracy of road detection. Relying on LiDAR sensors limits the wide application of those methods…
The operation of critical infrastructures such as the electrical power grid, cellphone towers, and financial institutions relies on precise timing provided by stationary GPS receivers. These GPS devices are vulnerable to a type of spoofing…
In Autonomous Vehicles (AVs), one fundamental pillar is perception, which leverages sensors like cameras and LiDARs (Light Detection and Ranging) to understand the driving environment. Due to its direct impact on road safety, multiple prior…
Long-term scene changes present challenges to localization systems using a pre-built map. This paper presents a LiDAR-based system that can provide robust localization against those challenges. Our method starts with activation of a mapping…
Location-based service (LBS) applications proliferate and support transportation, entertainment, and more. Modern mobile platforms, with smartphones being a prominent example, rely on terrestrial and satellite infrastructures (e.g., global…
As autonomous vehicles become an essential component of modern transportation, they are increasingly vulnerable to threats such as GPS spoofing attacks. This study presents an adaptive detection approach utilizing a dynamically tuned…
LiDAR odometry plays an important role in self-localization and mapping for autonomous navigation, which is usually treated as a scan registration problem. Although having achieved promising performance on KITTI odometry benchmark, the…
Biometric authentication systems are increasingly being deployed in critical applications, but they remain susceptible to spoofing. Since most of the research efforts focus on modality-specific anti-spoofing techniques, building a unified,…
In a spoofing attack, an attacker impersonates a legitimate user to access or modify data belonging to the latter. Typical approaches for spoofing detection in the physical layer declare an attack when a change is observed in certain…
This paper presents a real-time 3D mapping framework based on global matching cost minimization and LiDAR-IMU tight coupling. The proposed framework comprises a preprocessing module and three estimation modules: odometry estimation, local…