Related papers: Neutralization of IMU-Based GPS Spoofing Detection…

Unmanned aerial vehicles (UAVs) have been increasingly utilized in various civilian and military applications such as remote sensing, border patrolling, disaster monitoring, and communication coverage extension. However, there are still…

We consider the problem of carrier-phase differential GPS positioning for an land vehicle navigation system (LVNS), tightly coupled with an inertial measurement unit (IMU) and a speedometer. The primary focus is to apply Bayesian network to…

This paper proposes a novel inertial-aided localization approach by fusing information from multiple inertial measurement units (IMUs) and exteroceptive sensors. IMU is a low-cost motion sensor which provides measurements on angular…

This paper proposes a novel intrusion detection method for unmanned aerial vehicles (UAV) in the presence of recent actual UAV intrusion dataset. In particular, in the first stage of our method, we design an autoencoder architecture for…

Control firmware in unmanned aerial vehicles (UAVs) uses sensors to model and manage flight operations, from takeoff to landing to flying between waypoints. However, sensors can fail at any time during a flight. If control firmware…

Connected and cooperative driving requires precise calibration of the roadside infrastructure for having a reliable perception system. To solve this requirement in an automated manner, we present a robust extrinsic calibration method for…

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,…

In this paper we propose a new analytical preintegration theory for graph-based sensor fusion with an inertial measurement unit (IMU) and a camera (or other aiding sensors).Rather than using discrete sampling of the measurement dynamics as…

This paper deals with the problem of full state estimation for vehicles navigating in a three dimensional space. We assume that the vehicle is equipped with an Inertial Measurement Unit (IMU) providing body-frame measurements of the angular…

Face recognition systems are designed to be robust against changes in head pose, illumination, and blurring during image capture. If a malicious person presents a face photo of the registered user, they may bypass the authentication process…

Future Connected and Automated Vehicles (CAV), and more generally ITS, will form a highly interconnected system. Such a paradigm is referred to as the Internet of Vehicles (herein Internet of CAVs) and is a prerequisite to orchestrate…

This paper presents a novel approach to vehicle positioning that operates without reliance on the global navigation satellite system (GNSS). Traditional GNSS approaches are vulnerable to interference in certain environments, rendering them…

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…

Imitation learning is a promising approach for training autonomous vehicles (AV) to navigate complex traffic environments by mimicking expert driver behaviors. While existing imitation learning frameworks focus on leveraging expert…

This paper presents a vehicle-independent, non-intrusive, and light monitoring system for accurately measuring fuel consumption in road vehicles from longitudinal speed and acceleration derived continuously in time from GNSS and IMU sensors…

Global navigation satellite systems (GNSS) are vulnerable to spoofing attacks, with adversarial signals manipulating the location or time information of receivers, potentially causing severe disruptions. The task of discerning the spoofing…

In this work, we introduce Dynamic SLAMSpoof (D-SLAMSpoof), a novel attack that compromises LiDAR SLAM even in feature-rich environments. The attack leverages LiDAR spoofing, which injects spurious measurements into LiDAR scans through…

Due to the vulnerability of civilian global positioning system (GPS) signals, the accuracy of phasor measurement units (PMUs) can be greatly compromised by GPS spoofing attacks (GSAs), which introduce phase shifts into true phase angle…

The limited or no protection for civilian Global Navigation Satellite System (GNSS) signals makes spoofing attacks relatively easy. With modern mobile devices often featuring network interfaces, state-of-the-art signals of opportunity (SOP)…

This paper proposes a low-cost six Degree-of-Freedom (6-DOF) navigation system for small aerial robots based on the integration of Global Position System (GPS) receiver with sensors of inertional Microelectromechanical Systems (MEMS). In…