Slam apparatus, slam attack countermeasure method, and computer readable medium
AssigneeMitsubishi Electric Corporation
InventorMasashi FUKUNAGA
Life of this patent
Estimating the term…
Abstract
A LiDAR SLAM unit (111) executes SLAM using measurement data obtained from a lidar sensor installed in a mobile object and generates a lidar SLAM map. A camera SLAM unit (112) executes SLAM using measurement data obtained from a distance image camera installed in the mobile object and generates a camera SLAM map. An attack determination unit (122) determines whether or not the lidar sensor has been attacked based on a difference between the lidar SLAM map and the camera SLAM map.
Claims10
A SLAM apparatus comprising:
- processing circuitry:
- to execute SLAM using measurement data obtained from a lidar sensor installed in a mobile object and to generate a lidar SLAM map;
- to execute SLAM using measurement data obtained from a distance image camera installed in the mobile object and to generate a camera SLAM map;
- and
- to determine whether or not the lidar sensor has been attacked based on a difference between the lidar SLAM map and the camera SLAM map.
A SLAM attack countermeasure method comprising:
- executing SLAM using measurement data obtained from a lidar sensor installed in a mobile object and generating a lidar SLAM map;
- executing SLAM using measurement data obtained from a distance image camera installed in the mobile object and generating a camera SLAM map;
- and
- determining whether or not the lidar sensor has been attacked based on a difference between the lidar SLAM map and the camera SLAM map.
A non-transitory commuter readable medium storing a SLAM attack countermeasure program for causing a computer to execute:
- a lidar SLAM process to execute SLAM using measurement data obtained from a lidar sensor installed in a mobile object and to generate a lidar SLAM map;
- a camera SLAM process to execute SLAM using measurement data obtained from a distance image camera installed in the mobile object and to generate a camera SLAM map;
- and
- an attack determination process to determine whether or not the lidar sensor has been attacked based on a difference between the lidar SLAM map and the camera SLAM map.
Dependencies are inferred from the claim text.