In the last decade, visual odometry (VO) has attracted significant research attention within the computer vision community. Most of the works have been carried out using standard visible-band cameras. These sensors offer numerous advantages but also suffer from some drawbacks such as illumination variations and limited operational time (i.e., daytime only). In this paper, we explore techniques that allow us to extend the concepts beyond the visible spectrum. We introduce a localization solution based on a pair of thermal cameras. We focus on VO and demonstrate the accuracy of the proposed solution in daytime as well as night-time. The first challenge with thermal cameras is their geometric calibration. Here, we propose a solution to overcome this issue and enable stereopsis. VO requires a good set of feature correspondences. We use a combination of Fast-Hessian detector with for Fast Retina Keypoint descriptor for that purpose. A range of optimization techniques can be used to compute the incremental motion. Here, we propose the double dogleg algorithm and show that it presents an interesting alternative to the commonly used Levenberg-Marquadt approach. In addition, we explore thermal 3-D reconstruction and show that similar performance to the visible-band can be achieved. In order to validate the proposed solution, we build an innovative experimental setup to capture various data sets, where different weather and time conditions are considered.

An ever-increasing number of computing devices interconnected through wireless networks encapsulated in the cyber-physical-social systems and a significant amount of sensitive network data transmitted among them have raised security and privacy concerns. Intrusion detection system (IDS) is known as an effective defence mechanism and most recently machine learning (ML) methods are used for its development. However, Internet of Things (IoT) devices often have limited computational resources such as limited energy source, computational power and memory, thus, traditional ML-based IDS that require extensive computational resources are not suitable for running on such devices. This study thus is to design and develop a lightweight ML-based IDS tailored for the resource-constrained devices. Specifically, the study proposes a lightweight ML-based IDS model namely IMPACT (IMPersonation Attack deteCTion using deep auto-encoder and feature abstraction). This is based on deep feature learning with gradient-based linear Support Vector Machine (SVM) to deploy and run on resource-constrained devices by reducing the number of features through feature extraction and selection using a stacked autoencoder (SAE), mutual information (MI) and C4.8 wrapper. The IMPACT is trained on Aegean Wi-Fi Intrusion Dataset (AWID) to detect impersonation attack. Numerical results show that the proposed IMPACT achieved 98.22% accuracy with 97.64% detection rate and 1.20% false alarm rate and outperformed existing state-of-the-art benchmark models. Another key contribution of this study is the investigation of the features in AWID dataset for its usability for further development of IDS.

We propose an architecture appropriate for future Light Detection and Ranging (LIDAR) active homing seeker missiles with Automatic Target Recognition (ATR) capabilities. Our proposal enhances military targeting performance by extending ATR into the 3 rd dimension. From a military and aerospace industry point of view, this is appealing as weapon effectiveness against camouflage, concealment and deception techniques can be substantially improved. Specifically, we present a missile seeker 3D ATR architecture that relies on the 3D local feature based SHOT descriptor and a dual-role pipeline with a number of pre and post-processing operations. We evaluate our architecture on a number of missile engagement scenarios in various environmental setups with the missile being under various altitudes, obliquities, distances to the target and scene resolutions. Under these demanding conditions, the recognition performance gained is highly promising. Even in the extreme case of reducing the database entries to a single template per target, our interchangeable ATR architecture still provides a highly acceptable performance. Although we focus on future intelligent missile systems, our approach can be implemented to a great range of time-critical complex systems for space, air and ground environments for military, law-enforcement, commercial and research purposes.