Prem Kalra

Prashant Kumar, Kshitij Madhav Bhat, Vedang Bhupesh Shenvi Nadkarni et al.

Sparse LiDAR point clouds cause severe loss of detail of static structures and reduce the density of static points available for navigation. Reduced density can be detrimental to navigation under several scenarios. We observe that despite high sparsity, in most cases, the global topology of LiDAR outlining the static structures can be inferred. We utilize this property to obtain a backbone skeleton of a LiDAR scan in the form of a single connected component that is a proxy to its global topology. We utilize the backbone to augment new points along static structures to overcome sparsity. Newly introduced points could correspond to existing static structures or to static points that were earlier obstructed by dynamic objects. To the best of our knowledge, we are the first to use such a strategy for sparse LiDAR point clouds. Existing solutions close to our approach fail to identify and preserve the global static LiDAR topology and generate sub-optimal points. We propose GLiDR, a Graph Generative network that is topologically regularized using 0-dimensional Persistent Homology ($\mathcal{PH}$) constraints. This enables GLiDR to introduce newer static points along a topologically consistent global static LiDAR backbone. GLiDR generates precise static points using $32\times$ sparser dynamic scans and performs better than the baselines across three datasets. GLiDR generates a valuable byproduct - an accurate binary segmentation mask of static and dynamic objects that are helpful for navigation planning and safety in constrained environments. The newly introduced static points allow GLiDR to outperform LiDAR-based navigation using SLAM in several settings. Source code is available at https://kshitijbhat.github.io/glidr

Prashant Kumar, Dhruv Makwana, Onkar Susladkar et al.

Accurate static structure reconstruction and segmentation of non-stationary objects is of vital importance for autonomous navigation applications. These applications assume a LiDAR scan to consist of only static structures. In the real world however, LiDAR scans consist of non-stationary dynamic structures - moving and movable objects. Current solutions use segmentation information to isolate and remove moving structures from LiDAR scan. This strategy fails in several important use-cases where segmentation information is not available. In such scenarios, moving objects and objects with high uncertainty in their motion i.e. movable objects, may escape detection. This violates the above assumption. We present MOVES, a novel GAN based adversarial model that segments out moving as well as movable objects in the absence of segmentation information. We achieve this by accurately transforming a dynamic LiDAR scan to its corresponding static scan. This is obtained by replacing dynamic objects and corresponding occlusions with static structures which were occluded by dynamic objects. We leverage corresponding static-dynamic LiDAR pairs.

Prashant Kumar, Dheeraj Vattikonda, Kshitij Madhav Bhat et al. · mila

The widespread adoption of learning-based methods for the LiDAR makes autonomous vehicles vulnerable to adversarial attacks through adversarial \textit{point injections (PiJ)}. It poses serious security challenges for navigation and map generation. Despite its critical nature, no major work exists that studies learning-based attacks on LiDAR-based SLAM. Our work proposes SLACK, an end-to-end deep generative adversarial model to attack LiDAR scans with several point injections without deteriorating LiDAR quality. To facilitate SLACK, we design a novel yet simple autoencoder that augments contrastive learning with segmentation-based attention for precise reconstructions. SLACK demonstrates superior performance on the task of \textit{point injections (PiJ)} compared to the best baselines on KITTI and CARLA-64 dataset while maintaining accurate scan quality. We qualitatively and quantitatively demonstrate PiJ attacks using a fraction of LiDAR points. It severely degrades navigation and map quality without deteriorating the LiDAR scan quality.

Indu Joshi, Ayush Utkarsh, Riya Kothari et al.

A fingerprint region of interest (roi) segmentation algorithm is designed to separate the foreground fingerprint from the background noise. All the learning based state-of-the-art fingerprint roi segmentation algorithms proposed in the literature are benchmarked on scenarios when both training and testing databases consist of fingerprint images acquired from the same sensors. However, when testing is conducted on a different sensor, the segmentation performance obtained is often unsatisfactory. As a result, every time a new fingerprint sensor is used for testing, the fingerprint roi segmentation model needs to be re-trained with the fingerprint image acquired from the new sensor and its corresponding manually marked ROI. Manually marking fingerprint ROI is expensive because firstly, it is time consuming and more importantly, requires domain expertise. In order to save the human effort in generating annotations required by state-of-the-art, we propose a fingerprint roi segmentation model which aligns the features of fingerprint images derived from the unseen sensor such that they are similar to the ones obtained from the fingerprints whose ground truth roi masks are available for training. Specifically, we propose a recurrent adversarial learning based feature alignment network that helps the fingerprint roi segmentation model to learn sensor-invariant features. Consequently, sensor-invariant features learnt by the proposed roi segmentation model help it to achieve improved segmentation performance on fingerprints acquired from the new sensor. Experiments on publicly available FVC databases demonstrate the efficacy of the proposed work.

Indu Joshi, Ayush Utkarsh, Riya Kothari et al.

The effectiveness of fingerprint-based authentication systems on good quality fingerprints is established long back. However, the performance of standard fingerprint matching systems on noisy and poor quality fingerprints is far from satisfactory. Towards this, we propose a data uncertainty-based framework which enables the state-of-the-art fingerprint preprocessing models to quantify noise present in the input image and identify fingerprint regions with background noise and poor ridge clarity. Quantification of noise helps the model two folds: firstly, it makes the objective function adaptive to the noise in a particular input fingerprint and consequently, helps to achieve robust performance on noisy and distorted fingerprint regions. Secondly, it provides a noise variance map which indicates noisy pixels in the input fingerprint image. The predicted noise variance map enables the end-users to understand erroneous predictions due to noise present in the input image. Extensive experimental evaluation on 13 publicly available fingerprint databases, across different architectural choices and two fingerprint processing tasks demonstrate effectiveness of the proposed framework.

Neeraj Gupta, Rajiv Shekhar, Prem Kumar Kalra

A new probabilistic methodology for transmission expansion planning (TEP) that does not require a priori specification of new/additional transmission capacities and uses the concept of social welfare has been proposed. Two new concepts have been introduced in this paper: (i) roulette wheel methodology has been used to calculate the capacity of new transmission lines and (ii) load flow analysis has been used to calculate expected demand not served (EDNS). The overall methodology has been implemented on a modified IEEE 5-bus test system. Simulations show an important result: addition of only new transmission lines is not sufficient to minimize EDNS.