General-Purpose Deep Learning Detection and Segmentation Models for Images from a Lidar-Based Camera Sensor

Over the last decade, robotic perception algorithms have significantly benefited from the rapid advances in deep learning (DL). Indeed, a significant amount of the autonomy stack of different commercial and research platforms relies on DL for situational awareness, especially vision sensors. This work explored the potential of general-purpose DL perception algorithms, specifically detection and segmentation neural networks, for processing image-like outputs of advanced lidar sensors. Rather than processing the three-dimensional point cloud data, this is, to the best of our knowledge, the first work to focus on low-resolution images with a 360° field of view obtained with lidar sensors by encoding either depth, reflectivity, or near-infrared light in the image pixels. We showed that with adequate preprocessing, general-purpose DL models can process these images, opening the door to their usage in environmental conditions where vision sensors present inherent limitations. We provided both a qualitative and quantitative analysis of the performance of a variety of neural network architectures. We believe that using DL models built for visual cameras offers significant advantages due to their much wider availability and maturity compared to point cloud-based perception.

Edge Computing to Secure IoT Data Ownership and Trade with the Ethereum Blockchain

With an increasing penetration of ubiquitous connectivity, the amount of data describing the actions of end-users has been increasing dramatically, both within the domain of the Internet of Things (IoT) and other smart devices. This has led to more awareness of users in terms of protecting personal data. Within the IoT, there is a growing number of peer-to-peer (P2P) transactions, increasing the exposure to security vulnerabilities, and the risk of cyberattacks. Blockchain technology has been explored as middleware in P2P transactions, but existing solutions have mainly focused on providing a safe environment for data trade without considering potential changes in interaction topologies. we present EdgeBoT, a proof-of-concept smart contracts based platform for the IoT built on top of the ethereum blockchain. With the Blockchain of Things (BoT) at the edge of the network, EdgeBoT enables a wider variety of interaction topologies between nodes in the network and external services while guaranteeing ownership of data and end users’ privacy. in EdgeBoT, edge devices trade their data directly with third parties and without the need of intermediaries. This opens the door to new interaction modalities, in which data producers at the edge grant access to batches of their data to different third parties. Leveraging the immutability properties of blockchains, together with the distributed nature of smart contracts, data owners can audit and are aware of all transactions that have occurred with their data. we report initial results demonstrating the potential of EdgeBoT within the IoT. we show that integrating our solutions on top of existing IoT systems has a relatively small footprint in terms of computational resource usage, but a significant impact on the protection of data ownership and management of data trade.