BigSnarf blog

Infosec FTW

SICK LiDAR for xmas fun

Every XMAS I always do some electronics project for fun. This year LIDAR.

This stack provides a ROS driver for the SICK LD-MRS series of laser scanners. The SICK LD-MRS is a multi-layer, multi-echo 3D laser scanner that is geared towards rough outdoor environments and also provides object tracking. The driver also works for the identical devices from IBEO.

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Denoising AutoEncoder

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  • model that predicts  – “autoencoder” as a feature generator
  • model that predicts  – “incidence angle” as a feature generator

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List and Dicts to Pandas DF

3 Pillars of Autonomous Driving


Semantic Segmentation using Adversarial Networks



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Blur affects on Neural Network preception

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Image quality is an important practical challenge that is often overlooked in the design of machine vision systems.

Commonly, machine vision systems are trained and tested on high quality image datasets, yet in practical applications the input images can not be assumed to be of high quality. Recently, deep neural networks have obtained state-of-the-art performance on many machine vision tasks.

In this paper we provide an evaluation of 4 state-of-the-art deep neural network models for image classification under quality distortions. We consider five types of quality distortions: blur, noise, contrast, JPEG, and JPEG2000 compression.

We show that the existing networks are susceptible to these quality distortions, particularly to blur and noise. These results enable future work in developing deep neural networks that are more invariant to quality distortions.






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VoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detection

Accurate detection of objects in 3D point clouds is a central problem in many applications, such as autonomous navigation, housekeeping robots, and augmented/virtual reality. To interface a highly sparse LiDAR point cloud with a region proposal network (RPN), most existing efforts have focused on hand-crafted feature representations, for example, a bird’s eye view projection.

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In this work, we remove the need of manual feature engineering for 3D point clouds and propose VoxelNet, a generic 3D detection network that unifies feature extraction and bounding box prediction into a single stage, end-to-end trainable deep network.

Specifically, VoxelNet divides a point cloud into equally spaced 3D voxels and transforms a group of points within each voxel into a unified feature representation through the newly introduced voxel feature encoding (VFE) layer. In this way, the point cloud is encoded as a descriptive volumetric representation, which is then connected to a RPN to generate detections.

Experiments on the KITTI car detection benchmark show that VoxelNet outperforms the state-of-the-art LiDAR based 3D detection methods by a large margin. Furthermore, our network learns an effective discriminative representation of objects with various geometries, leading to encouraging results in 3D detection of pedestrians and cyclists, based on only LiDAR.

Apple version:




Reality gap in robotic vision

The difficulty of transferring simulated experience into the real world is often called the “reality gap.” The reality gap is a subtle but important discrepancy between reality and simulation that prevents simulated robotic experience from directly enabling effective real-world performance.

Visual perception often constitutes the widest part of the reality gap: while simulated images continue to improve in fidelity, the peculiar and pathological regularities of synthetic pictures, and the wide, unpredictable diversity of real-world images, makes bridging the reality gap particularly difficult when the robot must use vision to perceive the world, as is the case for example in many manipulation tasks.


Context aware threat hunting AI

3d travel and navigation planning, concept

Morning aware, location, aware, application aware, pattern aware (high dimension coincidence)

Basic items like checking user logins of ID and password with context aware ML will help SOC analysts.

Every morning 10,000 employees login into their workstations. They enter the building and come into each office area each morning using their RFID badges. They sit down at specific desktops and login. Laptop users will hit specific WiFi access points.

On Monday morning some forget their passwords or had password change the week before. These users can get buckets into risky behavior for the failures. Most will enter their routine of getting their coffee and come back to their workstations. Users will check their email and open their calendars. Users will check slack.  Mostly predictable behaviors.

All of these behaviors are easily logged and can be eliminated as threat vectors quite easily. Add video analysis and facial recognition, chat behaviour, and response analysis for both email and slack, and you can be pretty confident the right person is using the right resources.

I haven’t discussed IP addresses or ports. How about asking the user if you are really unsure? Slack message, confirmation from peers?