This paper reviews the state of the art and future trends of indoor Positioning, Localization, and Navigation (PLAN). It covers the requirements, the main players, sensors, and techniques for indoor PLAN. Other than the navigation sensors such as Inertial Navigation System (INS) and Global Navigation Satellite System (GNSS), the environmental-perception sensors such as High-Definition map (HD map), Light Detection and Ranging (LiDAR), camera, the fifth generation of mobile network communication technology (5G), and Internet-of-Things (IoT) signals are becoming important aiding sensors for PLAN. The PLAN systems are expected to be more intelligent and robust under the emergence of more advanced sensors, multi-platform/multi-device/multi-sensor information fusion, self-learning systems, and the integration with artificial intelligence, 5G, IoT, and edge/fog computing.

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Indoor navigation: state of the art and future trends

This article presents a challenging multi-agent seasonal dataset collected by a fleet of Ford autonomous vehicles (AVs) at different days and times during 2017–2018. The vehicles traversed an avera...

Ford Multi-AV Seasonal Dataset:

Combining multiple LiDARs enables a robot to maximize its perceptual awareness of environments and obtain sufficient measurements, which is promising for simultaneous localization and mapping (SLAM). This article proposes a system to achieve robust and simultaneous extrinsic calibration, odometry, and mapping for multiple LiDARs. Our approach starts with measurement preprocessing to extract edge and planar features from raw measurements. After a motion and extrinsic initialization procedure, a sliding window-based multi-LiDAR odometry runs onboard to estimate poses with an online calibration refinement and convergence identification. We further develop a mapping algorithm to construct a global map and optimize poses with sufficient features together with a method to capture and reduce data uncertainty. We validate our approach’s performance with extensive experiments on 10 sequences (4.60-km total length) for the calibration and SLAM and compare it against the state of the art. We demonstrate that the proposed work is a complete, robust, and extensible system for various multi-LiDAR setups. The source code, datasets, and demonstrations are available at: https://ram-lab.com/file/site/m-loam.

Robust Odometry and Mapping for Multi-LiDAR Systems with Online Extrinsic Calibration

For high-level Autonomous Vehicles (AV), localization is highly security and safety critical. One direct threat to it is GPS spoofing, but fortunately, AV systems today predominantly use Multi-Sensor Fusion (MSF) algorithms that are generally believed to have the potential to practically defeat GPS spoofing. However, no prior work has studied whether today's MSF algorithms are indeed sufficiently secure under GPS spoofing, especially in AV settings. In this work, we perform the first study to fill this critical gap. As the first study, we focus on a production-grade MSF with both design and implementation level representativeness, and identify two AV-specific attack goals, off-road and wrong-way attacks. 
To systematically understand the security property, we first analyze the upper-bound attack effectiveness, and discover a take-over effect that can fundamentally defeat the MSF design principle. We perform a cause analysis and find that such vulnerability only appears dynamically and non-deterministically. Leveraging this insight, we design FusionRipper, a novel and general attack that opportunistically captures and exploits take-over vulnerabilities. We evaluate it on 6 real-world sensor traces, and find that FusionRipper can achieve at least 97% and 91.3% success rates in all traces for off-road and wrong-way attacks respectively. We also find that it is highly robust to practical factors such as spoofing inaccuracies. To improve the practicality, we further design an offline method that can effectively identify attack parameters with over 80% average success rates for both attack goals, with the cost of at most half a day. We also discuss promising defense directions.

Drift with Devil: Security of Multi-Sensor Fusion based Localization in High-Level Autonomous Driving under GPS Spoofing (Extended Version).

Network slicing has been widely agreed as a promising technique to accommodate diverse services for the Industrial Internet of Things (IIoT). Smart transportation, smart energy, and smart factory/manufacturing are the three key services to form the backbone of IIoT. Network slicing management is of paramount importance in the face of IIoT services with diversified requirements. It is important to have a comprehensive survey on intelligent network slicing management to provide guidance for future research in this field. In this paper, we provide a thorough investigation and analysis of network slicing management in its general use cases as well as specific IIoT services including smart transportation, smart energy and smart factory, and highlight the advantages and drawbacks across many existing works/surveys and this current survey in terms of a set of important criteria. In addition, we present an architecture for intelligent network slicing management for IIoT focusing on the above three IIoT services. For each service, we provide a detailed analysis of the application requirements and network slicing architecture, as well as the associated enabling technologies. Further, we present a deep understanding of network slicing orchestration and management for each service, in terms of orchestration architecture, AI-assisted management and operation, edge computing empowered network slicing, reliability, and security. For the presented architecture for intelligent network slicing management and its application in each IIoT service, we identify the corresponding key challenges and open issues that can guide future research. To facilitate the understanding of the implementation, we provide a case study of the intelligent network slicing management for integrated smart transportation, smart energy, and smart factory. Some lessons learnt include: 1) For smart transportation, it is necessary to explicitly identify service function chains (SFCs) for specific applications along with the orchestration of underlying VNFs/PNFs for supporting such SFCs; 2) For smart energy, it is crucial to guarantee both ultra-low latency and extremely high reliability; 3) For smart factory, resource management across heterogeneous network domains is of paramount importance. We hope that this survey is useful for both researchers and engineers on the innovation and deployment of intelligent network slicing management for IIoT.

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A Survey of Intelligent Network Slicing Management for Industrial IoT: Integrated Approaches for Smart Transportation, Smart Energy, and Smart Factory

Autonomous vehicles require precise knowledge of their position and orientation in all weather and traffic conditions for path planning, perception, control, and general safe operation. Here we derive these requirements for autonomous vehicles based on first principles. We begin with the safety integrity level, defining the allowable probability of failure per hour of operation based on desired improvements on road safety today. This draws comparisons with the localization integrity levels required in aviation and rail where similar numbers are derived at 10^-8 probability of failure per hour of operation. We then define the geometry of the problem, where the aim is to maintain knowledge that the vehicle is within its lane and to determine what road level it is on. Longitudinal, lateral, and vertical localization error bounds (alert limits) and 95% accuracy requirements are derived based on US road geometry standards (lane width, curvature, and vertical clearance) and allowable vehicle dimensions. For passenger vehicles operating on freeway roads, the result is a required lateral error bound of 0.57 m (0.20 m, 95%), a longitudinal bound of 1.40 m (0.48 m, 95%), a vertical bound of 1.30 m (0.43 m, 95%), and an attitude bound in each direction of 1.50 deg (0.51 deg, 95%). On local streets, the road geometry makes requirements more stringent where lateral and longitudinal error bounds of 0.29 m (0.10 m, 95%) are needed with an orientation requirement of 0.50 deg (0.17 deg, 95%).

Localization Requirements for Autonomous Vehicles.

Localization Requirements for Autonomous Vehicles

This paper presents a challenging multi-agent seasonal dataset collected by a fleet of Ford autonomous vehicles at different days and times during 2017-18. The vehicles traversed an average route of 66 km in Michigan that included a mix of driving scenarios such as the Detroit Airport, freeways, city-centers, university campus and suburban neighbourhoods, etc. Each vehicle used in this data collection is a Ford Fusion outfitted with an Applanix POS-LV GNSS system, four HDL-32E Velodyne 3D-lidar scanners, 6 Point Grey 1.3 MP Cameras arranged on the rooftop for 360-degree coverage and 1 Pointgrey 5 MP camera mounted behind the windshield for the forward field of view. We present the seasonal variation in weather, lighting, construction and traffic conditions experienced in dynamic urban environments. This dataset can help design robust algorithms for autonomous vehicles and multi-agent systems. Each log in the dataset is time-stamped and contains raw data from all the sensors, calibration values, pose trajectory, ground truth pose, and 3D maps. All data is available in Rosbag format that can be visualized, modified and applied using the open-source Robot Operating System (ROS). We also provide the output of state-of-the-art reflectivity-based localization for bench-marking purposes. The dataset can be freely downloaded at our website.

Ford Multi-AV Seasonal Dataset

This paper presents a localization technique using aerial imagery maps and LIDAR based ground reflectivity for autonomous vehicles in urban environments. Traditional localization techniques using LIDAR reflectivity rely on high definition reflectivity maps generated from a mapping vehicle. The cost and effort required to maintain such prior maps are generally very high because it requires a fleet of expensive mapping vehicles. In this work we propose a localization technique where the vehicle localizes using aerial/satellite imagery, eradicating the need to develop and maintain complex high-definition maps. The proposed technique has been tested on a real world dataset collected from a test track in Ann Arbor, Michigan. This research concludes that aerial imagery based maps provides real-time localization performance similar to state-of-the-art LIDAR based maps for autonomous vehicles in urban environments at reduced costs.

Vora Ankit Girish

Papers

Localization Requirements for Autonomous Vehicles.

Localization Requirements for Autonomous Vehicles

Ford Multi-AV Seasonal Dataset:

Ford Multi-AV Seasonal Dataset

Aerial Imagery based LIDAR Localization for Autonomous Vehicles.