相关论文: Measuring Novelty in Autonomous Vehicles Motion Us…

In recent years, there have been many practical applications of anomaly detection such as in predictive maintenance, detection of credit fraud, network intrusion, and system failure. The goal of anomaly detection is to identify in the test…

The growing number of IoT devices and their use to monitor the operation of machines and equipment increases interest in anomaly detection algorithms running on devices. However, the difficulty is the limitations of the available…

Outlier detection (also known as anomaly detection or deviation detection) is a process of detecting data points in which their patterns deviate significantly from others. It is common to have outliers in industry applications, which could…

Autonomous driving vehicles (ADVs) are implemented with rich software functions and equipped with many sensors, which in turn brings broad attack surface. Moreover, the execution environment of ADVs is often open and complex. Hence, ADVs…

In this paper a novelty filter is introduced which allows a robot operating in an un structured environment to produce a self-organised model of its surroundings and to detect deviations from the learned model. The environment is perceived…

We present a nonparametric method for outlier detection that takes full account of local variations in intrinsic dimensionality within the dataset. Using the theory of Local Intrinsic Dimensionality (LID), our 'dimensionality-aware' outlier…

In this paper, we propose a novel approach for outlier detection, called local projections, which is based on concepts of Local Outlier Factor (LOF) (Breunig et al., 2000) and RobPCA (Hubert et al., 2005). By using aspects of both methods,…

Detecting outliers which are grossly different from or inconsistent with the remaining dataset is a major challenge in real-world KDD applications. Existing outlier detection methods are ineffective on scattered real-world datasets due to…

Recognising new or unusual features of an environment is an ability which is potentially very useful to a robot. This paper demonstrates an algorithm which achieves this task by learning an internal representation of `normality' from sonar…

Accurate velocity estimation is critical in mobile robotics, particularly for driver assistance systems and autonomous driving. Wheel odometry fused with Inertial Measurement Unit (IMU) data is a widely used method for velocity estimation;…

Recognition of anomalous events is a challenging but critical task in many scientific and industrial fields, especially when the properties of anomalies are unknown. In this paper, we introduce a new anomaly concept called "unicorn" or…

This paper proposes a methodology to estimate uncertainty in automated vehicle (AV) dynamics in real time via Bayesian inference. Based on the estimated uncertainty, the method aims to continuously monitor the car-following (CF) performance…

Machine-learning driven safety-critical autonomous systems, such as self-driving cars, must be able to detect situations where its trained model is not able to make a trustworthy prediction. Often viewed as a black-box, it is non-obvious to…

We propose a new position control strategy for VTOL-UAVs using IMU and GPS measurements. Since there is no sensor that measures the attitude, our approach does not rely on the knowledge (or reconstruction) of the system orientation as…

Autonomous vehicles (AVs) use object detection models to recognize their surroundings and make driving decisions accordingly. Conventional object detection approaches classify objects into known classes, which limits the AV's ability to…

A novel unsupervised outlier score, which can be embedded into graph based dimensionality reduction techniques, is presented in this work. The score uses the directed nearest neighbor graphs of those techniques. Hence, the same measure of…

In this paper we propose a novel observer-based method to improve the safety and security of connected and automated vehicle (CAV) transportation. The proposed method combines model-based signal filtering and anomaly detection methods.…

The nature of modern data is increasingly real-time, making outlier detection crucial in any data-related field, such as finance for fraud detection and healthcare for monitoring patient vitals. Traditional outlier detection methods, such…

We propose an inlier-based outlier detection method capable of both identifying the outliers and explaining why they are outliers, by identifying the outlier-specific features. Specifically, we employ an inlier-based outlier detection…

Unmanned aerial vehicles (UAVs) are becoming an integral part of both industry and society. In particular, the quadrotor is now invaluable across a plethora of fields and recent developments, such as the inclusion of aerial manipulators,…