This paper presents a new end-to-end signal classification method using the signed cumulative distribution transform (SCDT). We adopt a transport generative model to define the classification problem. We then make use of mathematical properties of the SCDT to render the problem easier in transform domain, and solve for the class of an unknown sample using a nearest local subspace (NLS) search algorithm in SCDT domain. Experiments show that the proposed method provides high accuracy classification results while being computationally cheap, data efficient, and robust to out-of-distribution samples with respect to the existing end-to-end classification methods. The implementation of the proposed method in Python language is integrated as a part of the software package PyTransKit [1].

This paper presents a new method to classify 1D signals using the signed cumulative distribution transform (SCDT). The proposed method exploits certain linearization properties of the SCDT to render the problem easier to solve in the SCDT space. The method uses the nearest subspace search technique in the SCDT domain to provide a non-iterative, effective, and simple to implement classification algorithm. Experiments show that the proposed technique outperforms the state-of-the-art neural networks using a very low number of training samples and is also robust to out-of-distribution examples on simulated data. We also demonstrate the efficacy of the proposed technique in real-world applications by applying it to an ECG classification problem.

Autonomous vehicles (AV) depend on the sensors like RADAR and camera for the perception of the environment, path planning, and control. With the increasing autonomy and interactions with the complex environment, there have been growing concerns regarding the safety and reliability of AVs. This paper presents a Systems-Theoretic Process Analysis (STPA) based fault injection framework to assess the resilience of an open-source driving agent, called openpilot, under different environmental conditions and faults affecting sensor data. To increase the coverage of unsafe scenarios during testing, we use a strategic software fault-injection approach where the triggers for injecting the faults are derived from the unsafe scenarios identified during the high-level hazard analysis of the system. The experimental results show that the proposed strategic fault injection approach increases the hazard coverage compared to random fault injection and, thus, can help with more effective simulation of safety-critical faults and testing of AVs. In addition, the paper provides insights on the performance of openpilot safety mechanisms and its ability in timely detection and recovery from faulty inputs.

Understanding the surrounding environment including both still and moving objects is crucial to the design and optimization of intelligent vehicles. Knowledge about the vehicle environment could facilitate reliable detection of moving objects, especially irregular events (e.g., pedestrians crossing the road, vehicles making sudden lane changes,) for the purpose of avoiding collisions. Inspired by the analogy between point cloud and video data, we propose to formulate a problem of reconstructing the vehicle environment (e.g., terrains and buildings) from a sequence of point cloud sets. Built upon existing point cloud registration tool such as iterated closest point (ICP), we have developed an expectation-maximization (EM)-ICP technique that can automatically mosaic multiple point cloud sets into a larger one characterizing the still environment surrounding the vehicle. Moreover, we propose to address the issue of irregularity detection from the extracted moving objects. Our experimental results have shown successful reconstruction of a variety of challenging vehicle environments (including rural and urban, road and intersection, etc.) and simultaneous tracking/segmentation of multiple moving objects.