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A major challenge in cooperative sensing is to weight the measurements taken from the various sources to get an accurate result. Ideally, the weights should be inversely proportional to the error in the sensing information. However, previous cooperative sensor fusion approaches for autonomous vehicles use a fixed error model, in which the covariance of a sensor and its recognizer pipeline is just the mean of the measured covariance for all sensing scenarios. The approach proposed in this paper estimates error using key predictor terms that have high correlation with sensing and localization accuracy for accurate covariance estimation of each sensor observation. We adopt a tiered fusion model consisting of local and global sensor fusion steps. At the local fusion level, we add in a covariance generation stage using the error model for each sensor and the measured distance to generate the expected covariance matrix for each observation. At the global sensor fusion stage we add an additional stage to generate the localization covariance matrix from the key predictor term velocity and combines that with the covariance generated from the local fusion for accurate cooperative sensing. To showcase our method, we built a set of 1/10 scale model autonomous vehicles with scale accurate sensing capabilities and classified the error characteristics against a motion capture system. Results show an average and max improvement in RMSE when detecting vehicle positions of 1.42x and 1.78x respectively in a four-vehicle cooperative fusion scenario when using our error model versus a typical fixed error model.
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Multibiometric secure system based on deep learning
In this paper, we propose a secure multibiometric system that uses deep neural networks and error-correction coding. We present a feature-level fusion framework to generate a secure multibiometric template from each user’s multiple biometrics. Two fusion architectures, fully connected architecture and bilinear architecture, are implemented to develop a robust multibiometric shared representation. The shared representation is used to generate a cancelable biometric template that involves the selection of a different set of reliable and discriminative features for each user. This cancelable template is a binary vector and is passed through an appropriate error-correcting decoder to find a closest codeword and this codeword is hashed to generate the final secure template. The efficacy of the proposed approach is shown using a multimodal database where we achieve state-of-the-art matching performance, along with cancelability and security.
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- PAR ID:
- 10053523
- Date Published:
- Journal Name:
- Proc. IEEE Global Conf. on Signal and Information Processing (GlobalSIP)
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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Accepted Manuscript1.0
- Conference Paper:
- The DOI is not currently available.
