186 citations · 488 across the 13 of their papers we have counts for
15 papers
MM3DGS SLAM: Multi-modal 3D Gaussian Splatting for SLAM Using Vision, Depth, and Inertial Measurements
Lisong C. Sun, Neel P. Bhatt, Jonathan C. Liu +4
Simultaneous localization and mapping is essential for position tracking and scene understanding. 3D Gaussian-based map representations enable photorealistic reconstruction and rea…
Signal Identification and Entrainment for Practical FMCW Radar Spoofing Attacks
Andrew M. Graff, Todd E. Humphreys
This paper proposes a method of passively estimating the parameters of frequency-modulated-continuous-wave (FMCW) radar signals with a wide range of structural parameter values and…
Signal Structure of the Starlink Ku-Band Downlink
Todd E. Humphreys, Peter A. Iannucci, Zacharias Komodromos +1
We develop a technique for blind signal identification of the Starlink downlink signal in the 10.7 to 12.7 GHz band and present a detailed picture of the signal's structure. Import…
Carrier-phase and IMU based GNSS Spoofing Detection for Ground Vehicles
Zachary Clements, James E. Yoder, Todd E. Humphreys
This paper develops, implements, and validates a powerful single-antenna carrier-phase-based test to detect Global Navigation Satellite Systems (GNSS) spoofing attacks on ground ve…
Low-Cost Inertial Aiding for Deep-Urban Tightly-Coupled Multi-Antenna Precise GNSS
James E. Yoder, Todd E. Humphreys
A vehicular pose estimation technique is presented that tightly couples multi-antenna carrier-phase differential GNSS (CDGNSS) with a low-cost MEMS inertial sensor and vehicle dyna…
All-Weather sub-50-cm Radar-Inertial Positioning
Lakshay Narula, Peter A. Iannucci, Todd E. Humphreys
Deployment of automated ground vehicles beyond the confines of sunny and dry climes will require sub-lane-level positioning techniques based on radio waves rather than near-visible…
Fused Low-Earth-Orbit GNSS
Peter A. Iannucci, Todd E. Humphreys
Traditional Global Navigation Satellite System (GNSS) immunity to interference may be approaching a practical performance ceiling. Greater gains are possible outside traditional GN…
First results from three years of GNSS Interference Monitoring from Low Earth Orbit
Matthew J. Murrian, Lakshay Narula, Peter A. Iannucci +4
Observation of terrestrial GNSS interference (jamming and spoofing) from low-earth orbit (LEO) is a uniquely effective technique for characterizing the scope, strength, and structu…
TEX-CUP: The University of Texas Challenge for Urban Positioning
Lakshay Narula, Daniel M. LaChapelle, Matthew J. Murrian +5
A public benchmark dataset collected in the dense urban center of the city of Austin, TX is introduced for evaluation of multi-sensor GNSS-based urban positioning. Existing public…
Automotive-Radar-Based 50-cm Urban Positioning
Lakshay Narula, Peter A. Iannucci, Todd E. Humphreys
Deployment of automated ground vehicles (AGVs) beyond the confines of sunny and dry climes will require sub-lane-level positioning techniques based on radio waves rather than near-…
Automotive Collision Risk Estimation Under Cooperative Sensing
Daniel LaChapelle, Todd Humphreys, Lakshay Narula +2
This paper offers a technique for estimating collision risk for automated ground vehicles engaged in cooperative sensing. The technique allows quantification of (i) risk reduced du…
Deep urban unaided precise Global Navigation Satellite System vehicle positioning
Todd E. Humphreys, Matthew J. Murrian, Lakshay Narula
This paper presents the most thorough study to date of vehicular carrier-phase differential GNSS (CDGNSS) positioning performance in a deep urban setting unaided by complementary s…
Maximum-Likelihood Power-Distortion Monitoring for GNSS Signal Authentication
Jason N. Gross, Cagri Kilic, Todd E. Humphreys
We propose an extension to the so-called PD detector. The PD detector jointly monitors received power and correlation profile distortion to detect the presence of GNSS carry-off-ty…
Requirements for Secure Clock Synchronization
Lakshay Narula, Todd Humphreys
This paper establishes a fundamental theory of secure clock synchronization. Accurate clock synchronization is the backbone of systems managing power distribution, financial transa…
GNSS Signal Authentication via Power and Distortion Monitoring
Kyle D. Wesson, Jason N. Gross, Todd E. Humphreys +1
We propose a simple low-cost technique that enables civil Global Positioning System (GPS) receivers and other civil global navigation satellite system (GNSS) receivers to reliably…