Slam device, Slam attack countermeasure method, and Slam attack countermeasure program

Abstract

A LiDAR SLAM unit (111) uses measurement data obtained from a LiDAR sensor mounted on a mobile body to execute SLAM and generate a LiDAR SLAM map. A camera SLAM unit (112) uses measurement data obtained from a distance image camera mounted on the mobile body to execute SLAM and generate a camera SLAM map. An attack determination unit (122) determines whether the LiDAR sensor has been attacked on the basis of a difference between the LiDAR SLAM map and the camera SLAM map.

Description

Technical Field

[0004]

[0001] This disclosure relates to countermeasures against attacks on SLAM (Simultaneous Localization and Mapping).

Background Art

[0002] An autonomous driving system uses a plurality of sensors to achieve safe driving control of a moving body. The plurality of sensors measure the surrounding situation of the moving body while complementing each other's advantages and disadvantages. Using such a plurality of sensors in this way is called sensor fusion.

[0003] As a technology using sensor data in an autonomous driving system, there is SLAM. SLAM is a technology that simultaneously estimates the self-position of a moving body and generates an environmental map. By utilizing SLAM, the moving body can achieve safe driving even in a place it has just come to for the first time. SLAM is an abbreviation of Simultaneous Localization and Mapping.

[0004] In a specific environment, there is a problem that an attack on an autonomous driving system via sensors is carried out. For example, an attack is made on SLAM, which is an application used in an autonomous driving system. Due to a SLAM attack, there is a possibility that the victim (moving body) makes an incorrect positioning and causes sudden acceleration or sudden deceleration.

[0005] Patent Document 1 discloses a technique for the above problem. Specifically, Patent Document 1 discloses a SLAM interpolation technique using measurement data of LiDAR (Light Detection And Ranging) and measurement data of a camera. This technique countermeasures an attack that affects SLAM by performing synchronous spoofing on LiDAR and using its data at the application level. LiDAR is an abbreviation of Light Detection And Ranging.

Prior Art Documents

[0006] [Patent Document 1] International Publication No. 2023-139793 [Overview of the project] [Problems that the invention aims to solve]

[0007] This disclosure aims to enable the determination of whether or not an attack has occurred on a SLAM lidar sensor. [Means for solving the problem]

[0008] The SRAM device of this disclosure is A ridor slam unit that performs slamming using measurement data obtained from a ridor sensor mounted on a mobile vehicle to generate a ridor slam map, A camera slam unit that performs slamming using measurement data obtained from a distance image camera mounted on the mobile body to generate a camera slam map, An attack determination unit that determines whether the lidar sensor has been attacked based on the difference between the lidar slam map and the camera slam map, It is equipped with. [Effects of the Invention]

[0009] According to this disclosure, it is possible to determine whether or not an attack has occurred on a SLAM lidar sensor. [Brief explanation of the drawing]

[0010] [Figure 1] Configuration diagram of the SLAM device 100 in Embodiment 1. [Figure 2] Configuration diagram of the mobile body 200 in Embodiment 1. [Figure 3] Functional configuration diagram of the SLAM device 100 in Embodiment 1. [Figure 4] Flowchart of the SLAM attack countermeasure method in Embodiment 1. [Figure 5] A diagram showing an example of the processing flow of the SLAM attack countermeasure method in Embodiment 1. [Figure 6] Hardware configuration diagram of the SLAM device 100 in Embodiment 1.

Embodiments for Carrying Out the Invention

[0011] In the embodiments and the drawings, the same elements or corresponding elements are denoted by the same reference numerals. The description of the elements denoted by the same reference numerals as the described elements will be omitted or simplified as appropriate. The arrows in the figures mainly indicate the flow of data or the flow of processing.

[0012] Embodiment 1. The SLAM attack countermeasure will be described based on FIGS. 1 to 6.

[0013] ***Description of the Configuration*** Based on FIG. 1, the configuration of the SLAM device 100 will be described. The SLAM device 100 is a computer including hardware such as a processor 101, a memory 102, an auxiliary storage device 103, and an input / output interface 104. These hardware components are connected to each other via signal lines.

[0014] The processor 101 is an IC that performs arithmetic processing and controls other hardware. For example, the processor 101 is a CPU. [[ID=XXX]] IC is an abbreviation for Integrated Circuit. CPU is an abbreviation for Central Processing Unit.

[0015] The memory 102 is a volatile or non-volatile storage device. The memory 102 is also called the main storage device or main memory. For example, the memory 102 is a RAM. The data stored in the memory 102 is saved in the auxiliary storage device 103 as needed. RAM is an abbreviation for Random Access Memory. It seems there is a redundant " " in the original text which is not translated in a meaningful way in the above translation as it's not clear what it's supposed to represent. If there's more context or specific instructions regarding that tag, the translation could be adjusted more precisely.

[0016] The auxiliary storage device 103 is a non-volatile storage device. For example, the auxiliary storage device 103 is a ROM, HDD, flash memory, or a combination thereof. The data stored in the auxiliary storage device 103 is loaded into the memory 102 as needed. ROM is an abbreviation for Read Only Memory. HDD is an abbreviation for Hard Disk Drive.

[0017] The input / output interface 104 is a port to which input devices and output devices are connected. For example, the sensor group 210 and the control device 220 described later are connected to the input / output interface 104. USB is an abbreviation for Universal Serial Bus.

[0018] The SLAM device 100 includes elements such as a signal processing unit 110 and a control unit 120. These elements are realized by software.

[0019] The auxiliary storage device 103 stores a SLAM attack countermeasure program for causing a computer to function as the signal processing unit 110 and the control unit 120. The SLAM attack countermeasure program is loaded into the memory 102 and executed by the processor 101. The auxiliary storage device 103 further stores an OS. At least a part of the OS is loaded into the memory 102 and executed by the processor 101. The processor 101 executes the SLAM attack countermeasure program while executing the OS. OS is an abbreviation for Operating System.

[0020] The input / output data of the SLAM attack countermeasure program is stored in the storage unit 190. Memory 102 functions as a storage unit 190. However, storage devices such as auxiliary storage device 103, registers in the processor 101, and cache memory in the processor 101 may function as a storage unit 190 instead of memory 102, or together with memory 102.

[0021] SLAM attack countermeasure programs can be recorded (stored) in a computer-readable format on non-volatile recording media such as optical discs or flash memory.

[0022] The SLAM device 100 is mounted on a mobile body 200 that moves automatically using SLAM. Examples of mobile devices 200 include self-driving vehicles, autonomous mobile robots, and drones.

[0023] The configuration of the mobile unit 200 will be explained based on Figure 2. The mobile unit 200 is equipped with a SLAM device 100, a sensor group 210, and a control device 220.

[0024] The sensor group 210 consists of multiple types of sensors. The sensor group 210 includes a LiDAR sensor 211, a distance image camera 212, and a satellite positioning sensor 213. The depth image camera 212 is a camera that measures the distance to an object based on the time of flight (ToF) of light, such as infrared or visible light. The depth image camera 212 can output image data that includes distance data. In other words, the depth image camera 212 can perform odometry without requiring special point cloud processing. On the other hand, measuring distance using a normal camera requires additional information such as the amount of movement. The depth image camera 212 is also called a depth image sensor. The satellite positioning sensor 213 is a sensor that performs positioning using a satellite positioning system. An example of a satellite positioning system is the Global Positioning System (GPS). The sensor group 210 may include, in addition to the LiDAR sensor 211, the distance image camera 212, and the satellite positioning sensor 213, radar and sonar, etc.

[0025] The control device 220 is a computer that includes a movement control unit 221. The movement control unit 221 controls the movement, stopping, and direction changes of the mobile body 200 (movement control). Specifically, the movement control unit 221 controls the power unit and steering unit of the mobile body 200. An example of the power unit is a wheel and a motor. The power unit and steering unit are not shown in the diagram.

[0026] Figure 3 shows the functional configuration of the SLAM device 100. The signal processing unit 110 includes elements such as a LiDAR SLAM unit 111, a camera SLAM unit 112, and an accuracy determination unit 113. The control unit 120 includes elements such as a comparison unit 121, an attack determination unit 122, an output unit 123, and a correction unit 124.

[0027] ***Explanation of operation*** The operating procedure of the SLAM device 100 corresponds to the SLAM attack countermeasure method. Furthermore, the operating procedure of the SLAM device 100 corresponds to the processing procedure of the SLAM attack countermeasure program.

[0028] The following describes methods for countering SLAM attacks. The LiDAR sensor 211 performs LiDAR measurements around the moving object 200 and outputs measurement data. The output measurement data is input to the LiDAR SLAM unit 111. The distance image camera 212 performs ToF measurement around the moving object 200 and outputs measurement data. The output measurement data is input to the camera SLAM unit 112. The measurement time interval of the depth image camera 212 is shorter than that of the LiDAR sensor 211, so that two or more measurement data points are obtained from the depth image camera 212 for each measurement data point from the LiDAR sensor 211. The satellite positioning sensor 213 performs satellite positioning and outputs satellite positioning data. The output satellite positioning data is input to the accuracy determination unit 113.

[0029] Based on Figure 4, the procedure for countering SLAM attacks will be explained. The steps for countering SLAM attacks are repeated.

[0030] In step S101, the LiDAR SLAM unit 111 performs SLAM using the measurement data obtained from the LiDAR sensor 211.

[0031] In SLAM, point cloud processing and odometry are performed using the measurement data. Point cloud processing is the process of generating a point cloud that represents multiple measured locations (measurement points). Odometry is a method for determining the trajectory of a position. Known methods can be used for odometry.

[0032] SLAM is performed to estimate the position of the mobile object 200 and to generate a map of the area surrounding the mobile object 200.

[0033] SLAM performed using measurement data from the LiDAR sensor 211 is called LiDAR-based SLAM. Maps generated by LiDAR-based SLAM are referred to as LiDAR SLAM maps or LiDAR-based SLAM maps. The location estimated by LiDAR-based SLAM is referred to as the LiDAR SLAM location or LiDAR-based SLAM location.

[0034] The LiDAR SLAM unit 111 outputs LiDAR SLAM data. The LiDAR SLAM data shows the LiDAR SLAM location and LiDAR SLAM map. The output LiDAR SLAM data is input to the comparison unit 121.

[0035] In step S102, the accuracy determination unit 113 determines whether the positioning accuracy of the satellite positioning sensor 213 is poor based on the satellite positioning data obtained from the satellite positioning sensor 213.

[0036] For example, the accuracy determination unit 113 determines whether the positioning accuracy of the satellite positioning sensor 213 is poor or not as follows. Satellite positioning data includes information indicating the number of acquired satellites. The number of acquired satellites is the number of positioning satellites that have been acquired. An acquired positioning satellite is the positioning satellite that originated the positioning signal received by the satellite positioning sensor 213. For example, when the moving object 200 enters a tunnel, the satellite positioning sensor 213 cannot acquire positioning satellites. If the number of acquired satellites is small, the positioning accuracy of the satellite positioning sensor 213 cannot be maintained, and the positioning accuracy of the satellite positioning sensor 213 decreases. Alternatively, the position of the satellite positioning sensor 213 cannot be determined. The accuracy determination unit 113 determines whether the positioning accuracy of the satellite positioning sensor 213 is poor based on the number of acquired satellites indicated in the satellite positioning data. If the number of acquired satellites is small (if the number of acquired satellites is below a threshold), the accuracy determination unit 113 determines that the positioning accuracy of the satellite positioning sensor 213 is poor.

[0037] The accuracy determination unit 113 then outputs the determination result. The output determination result is input to the camera SLAM unit 112 and the comparison unit 121.

[0038] If it is determined that the positioning accuracy of the satellite positioning sensor 213 is not poor, the process proceeds to step S103. In this case, the LiDAR SLAM unit 111 may use the satellite positioning results to perform SLAM and regenerate LiDAR SLAM data. This improves the accuracy of self-position estimation. The satellite positioning results indicate the position estimated by the satellite positioning of the satellite positioning sensor 213 and are included in the satellite positioning data. The regenerated LiDAR SLAM data is input to the comparison unit 121.

[0039] In step S103, the comparison unit 121 receives the LiDAR SLAM data and the determination that the accuracy of the satellite positioning sensor 213 is not bad, and outputs the LiDAR SLAM data. The output LiDAR SLAM data is input to the output unit 123. The output unit 123 receives LiDAR SLAM data and outputs a LiDAR SLAM map. The output LiDAR SLAM map is input to the movement control unit 221.

[0040] The movement control unit 221 receives the LiDAR SLAM map and uses the LiDAR SLAM map to control the movement of the mobile body 200.

[0041] After step S103, one procedure for SLAM attack countermeasures is completed.

[0042] If it is determined in step S102 that the positioning accuracy of the satellite positioning sensor 213 is poor, the process proceeds to step S111.

[0043] In step S111, the camera SLAM unit 112 receives a determination that the positioning accuracy of the satellite positioning sensor 213 is poor, and controls the distance image camera 212 to operate it.

[0044] Next, the camera SLAM unit 112 performs SLAM using the measurement data obtained from the depth image camera 212.

[0045] SLAM performed using measurement data from the depth image camera 212 is called camera-based SLAM. Since the depth image camera 212 can measure images and distances, odometry can be achieved without requiring special point cloud processing. Maps generated by camera-based SLAM are referred to as camera-based SLAM maps or camera-series SLAM maps. The position estimated by camera-based SLAM is referred to as the camera SLAM position or camera-based SLAM position.

[0046] Next, the camera SLAM unit 112 outputs camera SLAM data. Camera SLAM data shows the camera SLAM location and camera SLAM map. The output camera SLAM data is input to the comparison unit 121.

[0047] The camera SLAM unit 112 obtains two or more measurement data from the depth image camera 212 and outputs camera SLAM data for each measurement data from the depth image camera 212.

[0048] Then, the camera SLAM unit 112 controls the distance image camera 212 to stop it.

[0049] In step S112, the comparison unit 121 receives LiDAR SLAM data, camera SLAM data, and a determination result indicating that the positioning accuracy of the satellite positioning sensor 213 is poor.

[0050] Next, the comparison unit 121 compares the LiDAR SLAM map with the camera SLAM map and calculates the difference between the LiDAR SLAM map and the camera SLAM map.

[0051] For example, the comparison unit 121 overlays the camera SLAM map onto the LiDAR SLAM map and calculates the difference between the point clouds in the camera SLAM map and the point clouds in the LiDAR SLAM map. The calculated difference becomes the difference between the LiDAR SLAM map and the camera SLAM map.

[0052] The comparison unit 121 calculates the difference by comparing the LiDAR SLAM map with the camera SLAM map for each input camera SLAM data. In other words, the comparison unit 121 compares one LiDAR SLAM map with each of two or more camera SLAM maps and calculates two or more differences corresponding to the two or more camera SLAM maps.

[0053] The comparison unit 121 may further compare the LiDAR SLAM position with the camera SLAM position and calculate the difference (of the trajectory) between the LiDAR SLAM position and the camera SLAM position.

[0054] The comparison unit 121 then outputs LiDAR SLAM data, camera SLAM data, and difference data. The difference data shows the calculated difference. The output data is input to the attack determination unit 122.

[0055] In step S113, the attack determination unit 122 receives LiDAR SLAM data, camera SLAM data, and difference data.

[0056] Next, the attack determination unit 122 determines whether the LiDAR sensor 211 has been attacked based on the difference between the LiDAR SLAM map and the camera SLAM map.

[0057] For example, the attack determination unit 122 calculates two or more difference statistics corresponding to two or more camera SLAM maps. Then, the attack determination unit 122 uses the calculated statistics to determine whether or not the LiDAR sensor 211 has been attacked. An example of a statistical value is the standard error. If the standard error falls outside a predetermined range, the attack determination unit 122 determines that the LiDAR sensor 211 has been attacked. For example, if the standard error σ is -2.3 or less, or 2.3σ or more, the attack determination unit 122 determines that the LiDAR sensor 211 has been attacked. The predetermined range is set appropriately depending on the performance of the LiDAR sensor 211 and the depth image camera 212, or the type of moving object 200.

[0058] The attack determination unit 122 may determine whether the LiDAR sensor 211 has been attacked based on the difference between the LiDAR SLAM map and the camera SLAM map, and the difference between the LiDAR SLAM position and the camera SLAM position.

[0059] If the LiDAR sensor 211 is attacked, it is likely that there will be anomalies in the LiDAR SLAM map.

[0060] If the LiDAR sensor 211 is determined to be under attack, the attack determination unit 122 outputs camera SLAM data. The output camera SLAM data is input to the output unit 123. In this case, the attack determination unit 122 further outputs LiDAR SLAM data. The output LiDAR SLAM data is input to the correction unit 124.

[0061] If the LiDAR sensor 211 is determined not to be under attack, the attack determination unit 122 outputs LiDAR SLAM data. The output LiDAR SLAM data is input to the output unit 123.

[0062] If it is determined that the LiDAR sensor 211 is not under attack, the process proceeds to step S114.

[0063] In step S114, the output unit 123 receives the LiDAR SLAM data and outputs a LiDAR SLAM map. The output LiDAR SLAM map is input to the movement control unit 221.

[0064] The movement control unit 221 receives the LiDAR SLAM map and uses the LiDAR SLAM map to control the movement of the mobile body 200.

[0065] After step S114, one procedure for SLAM attack countermeasures is completed.

[0066] If it is determined in step S113 that the LiDAR sensor 211 has been attacked, the process proceeds to step S121.

[0067] In step S121, the correction unit 124 receives LiDAR SLAM data and corrects the LiDAR SLAM map.

[0068] Specifically, the correction unit 124 removes outlier point clouds from the LiDAR SLAM map. Outliers are values ​​that deviate from the standard error.

[0069] The corrected LiDAR SLAM map is considered a map created by LiDAR-based SLAM and is used for orbital planning and assessment of surrounding conditions, among other things. The correction unit 124 outputs a corrected LiDAR SLAM map. The outputted LiDAR SLAM map is input to, for example, the LiDAR SLAM unit 111 and used in the next LiDAR-based SLAM.

[0070] In step S122, the output unit 123 receives the camera SLAM data and outputs a camera SLAM map. The output camera SLAM map is input to the movement control unit 221.

[0071] The movement control unit 221 receives the camera SLAM map and uses the camera SLAM map to control the movement of the mobile body 200.

[0072] After step S122, one procedure for SLAM attack countermeasures is completed.

[0073] Based on Figure 5, an example of the processing flow for SLAM attack countermeasures will be explained. This example assumes a scenario where the positioning accuracy of the satellite positioning sensor 213 is poor.

[0074] The LiDAR sensor 211 transmits measurement data, the LiDAR SLAM unit 111 performs LiDAR-based SLAM, and transmits the LiDAR SLAM map to the comparison unit 121 (step S101). Using LiDAR-based SLAM, the LiDAR sensor 211 generates a LiDAR SLAM map every 1 Hz, for example, and performs self-localization every 10 Hz. The LiDAR sensor 211 has a wide measurement range (approximately 100 meters), although this depends on the laser output. Therefore, a LiDAR SLAM map covering a wide area is generated. By separating high-speed self-localization and low-speed map generation, the self-localization error can be reduced, and time can be secured for feature extraction for map generation.

[0075] The distance image camera 212 transmits measurement data, the camera SLAM unit 112 performs camera-based SLAM, and transmits the camera SLAM map to the comparison unit 121 (step S103). Using camera-based SLAM, the camera SLAM unit 112 generates a camera SLAM map every 5 Hz, for example, and performs self-localization every 50 Hz. The distance image camera 212 has a narrow measurement range (approximately a few meters). Therefore, a camera SLAM map of a narrow area is generated.

[0076] Generally, the frame rate (measurement time interval) of distance image sensors is higher than that of LiDAR sensors. Therefore, it is possible to generate camera SLAM maps with higher accuracy. Assume that the frame rate of the depth image camera 212 is one-fifth of the frame rate of the LiDAR sensor 211. The comparison unit 121 compares one LiDAR SLAM map with five camera SLAM maps and transmits the difference data to the attack determination unit 122 (step S112). Furthermore, by changing the frame rate of each map, you can change the number of maps used for comparison.

[0077] The attack determination unit 122 determines whether the LiDAR sensor 211 has been attacked based on the differential data (step S113).

[0078] ***Effects of Embodiment 1*** Embodiment 1 makes it possible to prevent jamming attacks on sensors and attacks that deceive sensor fusion.

[0079] In Embodiment 1, the distance image camera 212 operates when the positioning accuracy of the satellite positioning sensor 213 is low. This reduces the operation of unnecessary functions under normal conditions. The measurement data from the distance imaging camera 212 can only be used within a narrow range, but it has good measurement accuracy. When the positioning accuracy of the satellite positioning sensor 213 is low, the mobile object 200 is often in a confined space such as inside a three-dimensional building or a tunnel. The condition that the mobile object 200 is in a confined space is ideal for using the depth image camera 212. Therefore, even if the LiDAR sensor 211 is under attack, safe movement can be carried out using the camera SLAM map.

[0080] ***Supplement to Embodiment 1*** The SLAM device 100 estimates its own position and generates a map of the surrounding environment in order to safely move the mobile object 200. During normal movement (when not under attack), the SLAM device 100 uses the LiDAR sensor 211 and the satellite positioning sensor 213 to estimate its own position. If the positioning accuracy of the satellite positioning sensor 213 deteriorates due to reasons such as being unable to acquire satellites inside a tunnel, the distance image camera 212 will be used. The signal processing unit 110 performs SLAM using the measurement data from the LiDAR sensor 211 and the measurement data from the depth image camera 212. Under normal circumstances, the signal processing unit 110 obtains measurement data (signals) only from the LiDAR sensor 211 and performs LiDAR-based SLAM using the measurement data from the LiDAR sensor 211. When measurement data is received from the depth image camera 212, the signal processing unit 110 performs SLAM using the measurement data from the LiDAR sensor 211 and the measurement data from the depth image camera 212, and performs data processing (signal processing) for comparison.

[0081] The procedure for countering SLAM attacks corresponds to a sensor fusion SLAM algorithm using a distance image camera 212 and a LiDAR sensor 211. If the GPS positioning accuracy is poor, the signal processing unit 110 uses the distance image camera 212 to implement countermeasures. If the GPS positioning accuracy is poor, the control unit 120 corrects the positioning accuracy by comparing a wide-area map obtained using LiDAR-based SLAM with a narrow-area map obtained using camera-based SLAM. If the GPS positioning accuracy is poor, the SLAM device 100 prioritizes the distance image camera 212 and performs sensor fusion signal processing accordingly. This avoids the need to add additional processing to the distance image camera 212, making it easier to meet implementation time requirements. The SLAM device 100 utilizes a depth image camera 212. The depth image camera 212 performs measurements using a pattern illumination method with a frame rate 10 times that of the LiDAR sensor 211. The control unit 120 compares one LiDAR-based SLAM map with five camera-based SLAM maps and performs attack detection through statistical processing.

[0082] Based on Figure 6, the hardware configuration of the SLAM device 100 will be explained. The SLAM device 100 includes a processing circuit 109. The processing circuit 109 is hardware that implements the signal processing unit 110 and the control unit 120. The processing circuit 109 may be dedicated hardware, or it may be a processor 101 that executes a program stored in memory 102.

[0083] If the processing circuit 109 is dedicated hardware, the processing circuit 109 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof. ASIC is an abbreviation for Application Specific Integrated Circuit. FPGA is an abbreviation for Field Programmable Gate Array.

[0084] The SLAM device 100 may include multiple processing circuits that replace the processing circuit 109.

[0085] In the processing circuit 109, some functions may be implemented by dedicated hardware, while the remaining functions may be implemented by software or firmware.

[0086] Thus, the functions of the SLAM device 100 can be realized through hardware, software, firmware, or a combination thereof.

[0087] Embodiment 1 is an example of a preferred form and is not intended to limit the technical scope of this disclosure. Embodiment 1 may be implemented in part or in combination with other forms. The procedure described using flowcharts, etc., may be modified as appropriate.

[0088] The "part" of each element of the SLAM device 100 may be read as "process," "step," "circuit," or "circuit." [Explanation of symbols]

[0089] 100 SLAM device, 101 processor, 102 memory, 103 auxiliary storage device, 104 input / output interface, 109 processing circuit, 110 signal processing unit, 111 LiDAR SLAM unit, 112 camera SLAM unit, 113 accuracy determination unit, 120 control unit, 121 comparison unit, 122 attack determination unit, 123 output unit, 124 correction unit, 190 memory unit, 200 mobile unit, 210 sensor group, 211 LiDAR sensor, 212 distance image camera, 213 satellite positioning sensor, 220 control device, 221 mobile control unit.

Claims

1. A lidar slam unit generates a lidar slam map by performing slam processing, which involves point cloud processing and odometry, using measurement data obtained from a lidar sensor mounted on a mobile body. A camera slam unit generates a camera slam map by performing odometry slam using measurement data obtained from a distance image camera mounted on the mobile body, without requiring point cloud processing. An attack determination unit that determines whether the lidar sensor has been attacked based on the difference between the lidar slam map and the camera slam map, The system includes an accuracy determination unit that determines the positioning accuracy of the satellite positioning sensor based on satellite positioning data obtained from the satellite positioning sensor mounted on the mobile body, The camera slam unit generates the camera slam map when it is determined that the positioning accuracy of the satellite positioning sensor is poor. The attack determination unit determines whether the LiDAR sensor has been attacked if it determines that the positioning accuracy of the satellite positioning sensor is poor. Slam device.

2. The camera slam unit operates the distance image camera to obtain the measurement data from the distance image camera when it is determined that the positioning accuracy of the satellite positioning sensor is poor. The slamming apparatus according to claim 1.

3. The mobile body is equipped with a control device that controls the movement of the mobile body using a slam map generated by the slam, The slam device includes an output unit that outputs the camera slam map to the control device when it is determined that the lidar sensor has been attacked, and outputs the lidar slam map to the control device when it is determined that the lidar sensor has not been attacked. The slamming apparatus according to claim 1.

4. The output unit outputs the RiderSlam map to the control device if it is not determined that the positioning accuracy of the satellite positioning sensor is poor. The slam apparatus according to claim 3.

5. A lidar slam unit performs point cloud processing and odometry using measurement data obtained from a lidar sensor mounted on a mobile body to generate a lidar slam map and estimates the position of the mobile body as the lidar slam position. A camera slam unit that performs odometry without point cloud processing using measurement data obtained from a distance image camera mounted on the mobile body, generates a camera slam map, and estimates the position of the mobile body as the camera slam position, A comparison unit that compares the rider slam map with the camera slam map to calculate the difference between the rider slam map and the camera slam map, and compares the rider slam position with the camera slam position to calculate the difference between the rider slam position and the camera slam position, An attack determination unit determines whether the lidar sensor has been attacked based on the difference between the lidar slam map and the camera slam map, and the difference between the lidar slam position and the camera slam position. A slam device equipped with [unspecified features].

6. The comparison unit calculates the difference between the trajectories of the rider slam position and the camera slam position as the difference between the rider slam position and the camera slam position. The slamming apparatus according to claim 5.

7. The SRAM device Using measurement data obtained from a lidar sensor mounted on a mobile vehicle, a lidar slam map is generated by performing point cloud processing and odometry on the slam. Using measurement data obtained from a depth image camera mounted on the aforementioned mobile body, a slam is executed that performs odometry without requiring point cloud processing, thereby generating a camera slam map. Based on the difference between the rider slam map and the camera slam map, it is determined whether the rider sensor has been attacked. The positioning accuracy of the satellite positioning sensor is determined based on the satellite positioning data obtained from the satellite positioning sensor mounted on the mobile vehicle. This is a method for countering slum attacks. The aforementioned slam device is If the positioning accuracy of the satellite positioning sensor is determined to be poor, the camera slam map is generated. If the positioning accuracy of the satellite positioning sensor is determined to be poor, it is determined whether the lidar sensor has been attacked. Methods to counter slum attacks.

8. The SRAM device Using measurement data obtained from a lidar sensor mounted on a mobile body, a slam is performed, which involves point cloud processing and odometry to generate a lidar slam map, and the position of the mobile body is estimated as the lidar slam position. Using measurement data obtained from a depth image camera mounted on the mobile body, a slam is executed that performs odometry without requiring point cloud processing to generate a camera slam map, and the position of the mobile body is estimated as the camera slam position. The rider slam map is compared with the camera slam map to calculate the difference between the rider slam map and the camera slam map, and the rider slam position is compared with the camera slam position to calculate the difference between the rider slam position and the camera slam position. Based on the difference between the ridor slam map and the camera slam map, and the difference between the ridor slam position and the camera slam position, it is determined whether the ridor sensor has been attacked. Methods to counter slum attacks.

9. LiDAR slam processing generates a LiDAR slam map by performing slam processing, which involves point cloud processing and odometry using measurement data obtained from a LiDAR sensor mounted on a mobile object. Camera slam processing, which generates a camera slam map by performing odometry without requiring point cloud processing, using measurement data obtained from a depth image camera mounted on the mobile body, An attack determination process that determines whether the lidar sensor has been attacked based on the difference between the lidar slam map and the camera slam map, A precision determination process that determines the positioning accuracy of the satellite positioning sensor based on satellite positioning data obtained from the satellite positioning sensor mounted on the mobile body, It is a slam attack countermeasure program that causes a computer to execute, The camera slam processing generates the camera slam map when it is determined that the positioning accuracy of the satellite positioning sensor is poor. The attack determination process determines whether the LiDAR sensor has been attacked if it is determined that the positioning accuracy of the satellite positioning sensor is poor. Slum attack countermeasures program.

10. A lidar slam process is performed to generate a lidar slam map by executing point cloud processing and odometry using measurement data obtained from a lidar sensor mounted on a mobile body, and the position of the mobile body is estimated as the lidar slam position. Camera slam processing is performed to generate a camera slam map by executing odometry using measurement data obtained from a depth image camera mounted on the mobile body, without requiring point cloud processing, and estimating the position of the mobile body as the camera slam position. A comparison process that involves comparing the rider slam map with the camera slam map to calculate the difference between the rider slam map and the camera slam map, and comparing the rider slam position with the camera slam position to calculate the difference between the rider slam position and the camera slam position, An attack determination process that determines whether the lidar sensor has been attacked based on the difference between the lidar slam map and the camera slam map, and the difference between the lidar slam position and the camera slam position, A SLM attack prevention program designed to force a computer to execute a command.

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