Related papers: VIMU: Effective Physics-based Realtime Detection a…
In the coming years, usage of Unmanned Aerial Vehicles (UAVs) is expected to grow tremendously. Maintaining security of UAVs under cyber attacks is an important yet challenging task, as these attacks are often erratic and difficult to…
Autonomous vehicles (AVs) rely heavily on LiDAR (Light Detection and Ranging) systems for accurate perception and navigation, providing high-resolution 3D environmental data that is crucial for object detection and classification. However,…
Integration of Visual Inertial Odometry (VIO) methods into a modular control system designed for deployment of Unmanned Aerial Vehicles (UAVs) and teams of cooperating UAVs in real-world conditions are presented in this paper. Reliability…
Forklifts are essential for transporting goods in industrial environments. These machines face wear and tear during field operations, along with rough terrain, tight spaces and complex handling scenarios. This increases the likelihood of…
Visual-Inertial Odometry (VIO) supports immersive Virtual Reality (VR) by fusing camera and Inertial Measurement Unit (IMU) data for real-time pose. However, current trend of offloading VIO to edge servers can lead server-side threat…
Cyber-physical control systems are critical infrastructures designed around highly responsive feedback loops that are measured and manipulated by hundreds of sensors and controllers. Anomalous data, such as from cyber-attacks, greatly risk…
Traditional human activity recognition uses either direct image analysis or data from wearable inertial measurement units (IMUs), but can be ineffective in challenging underwater environments. We introduce a novel hybrid approach that…
Employing an inertial measurement unit (IMU) as an additional sensor can dramatically improve both reliability and accuracy of visual/Lidar odometry (VO/LO). Different IMU integration models are introduced using different assumptions on the…
This paper presents a novel approach to real-time safety monitoring in human-robot collaborative manufacturing environments through a wrist-mounted Inertial Measurement Unit (IMU) system integrated with a Predictive Safety Model (PSM). The…
Memory-safety attacks have been one of the most critical threats against computing systems. Although a wide-range of defense techniques have been developed against these attacks, the existing mitigation strategies have several limitations.…
Autonomous vehicles (AVs), equipped with numerous sensors such as camera, LiDAR, radar, and ultrasonic sensor, are revolutionizing the transportation industry. These sensors are expected to sense reliable information from a physical…
The development of the low-altitude economy has led to a growing prominence of uncrewed aerial vehicle (UAV) safety management issues. Therefore, accurate identification, real-time localization, and effective countermeasures have become…
Recent advances in biometric systems have significantly improved the detection and prevention of fraudulent activities. However, as detection methods improve, attack techniques become increasingly sophisticated. Attacks on face recognition…
In response to the evolving challenges posed by small unmanned aerial vehicles (UAVs), which possess the potential to transport harmful payloads or independently cause damage, we introduce MMAUD: a comprehensive Multi-Modal Anti-UAV…
In this paper, we present a cooperative odometry scheme based on the detection of mobile markers in line with the idea of cooperative positioning for multiple robots [1]. To this end, we introduce a simple optimization scheme that realizes…
Visual Language Models (VLMs) are vulnerable to adversarial attacks, especially those from adversarial images, which is however under-explored in literature. To facilitate research on this critical safety problem, we first construct a new…
We present a framework for bridging the gap between sensor attack detection and recovery in cyber-physical systems. The proposed framework models modern-day, complex perception pipelines as bipartite graphs, which combined with anomaly…
Vision-Language Models (VLMs) face significant safety vulnerabilities from malicious prompt attacks due to weakened alignment during visual integration. Existing defenses suffer from efficiency and robustness. To address these challenges,…
Wear and tear detection in fleet and shared vehicle systems is a critical challenge, particularly in rental and car-sharing services, where minor damage, such as dents, scratches, and underbody impacts, often goes unnoticed or is detected…
In this paper, we argue that modern pre-integration methods for inertial measurement units (IMUs) are accurate enough to ignore the drift for short time intervals. This allows us to consider a simplified camera model, which in turn admits…