Yan Xiong

Zhanhua Xin, Zhihao Wang, Shenghao Zhang et al.

In the field of multi-sensor fusion for simultaneous localization and mapping (SLAM), monocular cameras and IMUs are widely used to build simple and effective visual-inertial systems. However, limited research has explored the integration of motor-encoder devices to enhance SLAM performance. By incorporating such devices, it is possible to significantly improve active capability and field of view (FOV) with minimal additional cost and structural complexity. This paper proposes a novel visual-inertial-encoder tightly coupled odometry (VIEO) based on a ViDAR (Video Detection and Ranging) device. A ViDAR calibration method is introduced to ensure accurate initialization for VIEO. In addition, a platform motion decoupled active SLAM method based on deep reinforcement learning (DRL) is proposed. Experimental data demonstrate that the proposed ViDAR and the VIEO algorithm significantly increase cross-frame co-visibility relationships compared to its corresponding visual-inertial odometry (VIO) algorithm, improving state estimation accuracy. Additionally, the DRL-based active SLAM algorithm, with the ability to decouple from platform motion, can increase the diversity weight of the feature points and further enhance the VIEO algorithm's performance. The proposed methodology sheds fresh insights into both the updated platform design and decoupled approach of active SLAM systems in complex environments.

Zhaoyi Meng, Yan Xiong, Wenchao Huang et al.

Android users are now suffering severe threats from unwanted behaviors of various apps. The analysis of apps' audit logs is one of the essential methods for some device manufacturers to unveil the underlying malice within apps. We propose and implement AppAngio, a novel system that reveals contextual information in Android app behaviors by API-level audit logs. Our goal is to help analysts of device manufactures understand what has happened on users' devices and facilitate the identification of the malice within apps. The key module of AppAngio is identifying the path matched with the logs on the app's control-flow graph (CFG). The challenge, however, is that the limited-quantity logs may incur high computational complexity in the log matching, where there are a large number of candidates caused by the coupling relation of successive logs. To address the challenge, we propose a divide and conquer strategy that precisely positions the nodes matched with log records on the corresponding CFGs and connects the nodes with as few backtracks as possible. Our experiments show that AppAngio reveals the contextual information of behaviors in real-world apps. Moreover, the revealed results assist the analysts in identifying malice of app behaviors and complement existing analysis schemes. Meanwhile, AppAngio incurs negligible performance overhead on the Android device.

Yan Xiong, Cheng Su, Wenchao Huang et al.

Current formal approaches have been successfully used to find design flaws in many security protocols. However, it is still challenging to automatically analyze protocols due to their large or infinite state spaces. In this paper, we propose a novel framework that can automatically verifying security protocols without any human intervention. Experimental results show that SmartVerif automatically verifies security protocols that cannot be automatically verified by existing approaches. The case study also validates the effectiveness of our dynamic strategy.