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We propose a novel method to enhance the accuracy of the Iterative Closest Point (ICP) algorithm by integrating altitude constraints from a barometric pressure sensor. While ICP is widely used in mobile robotics for Simultaneous Localization and Mapping ( SLAM ), it is susceptible to drift, especially in underconstrained environments such as vertical shafts. To address this issue, we propose to augment ICP with altimeter measurements, reliably constraining drifts along the gravity vector. To demonstrate the potential of altimetry in SLAM , we offer an analysis of calibration procedures and noise sensitivity of various pressure sensors, improving measurements to centimeter-level accuracy. Leveraging this accuracy, we propose a novel ICP formulation that integrates altitude measurements along the gravity vector, thus simplifying the optimization problem to 3-Degree Of Freedom (DOF). Experimental results from real-world deployments demonstrate that our method reduces vertical drift by 84% and improves overall localization accuracy compared to state-of-the-art methods in non-planar environments., Comment: 6 pages + references, 5 figures, submitted to ICRA25

Terrain awareness is an essential milestone to enable truly autonomous off-road navigation. Accurately predicting terrain characteristics allows optimizing a vehicle's path against potential hazards. Recent methods use deep neural networks to predict traversability-related terrain properties in a self-supervised manner, relying on proprioception as a training signal. However, onboard cameras are inherently limited by their point-of-view relative to the ground, suffering from occlusions and vanishing pixel density with distance. This paper introduces a novel approach for self-supervised terrain characterization using an aerial perspective from a hovering drone. We capture terrain-aligned images while sampling the environment with a ground vehicle, effectively training a simple predictor for vibrations, bumpiness, and energy consumption. Our dataset includes 2.8 km of off-road data collected in forest environment, comprising 13 484 ground-based images and 12 935 aerial images. Our findings show that drone imagery improves terrain property prediction by 21.37 % on the whole dataset and 37.35 % in high vegetation, compared to ground robot images. We conduct ablation studies to identify the main causes of these performance improvements. We also demonstrate the real-world applicability of our approach by scouting an unseen area with a drone, planning and executing an optimized path on the ground., Comment: 7 pages, 5 figures, submitted to ICRA 2025

Generally, the small size of public medical imaging datasets coupled with stringent privacy concerns, hampers the advancement of data-hungry deep learning models in medical imaging. This study addresses these challenges for 3D cardiac MRI images in the short-axis view. We propose Latent Diffusion Models that generate synthetic images conditioned on medical attributes, while ensuring patient privacy through differentially private model training. To our knowledge, this is the first work to apply and quantify differential privacy in 3D medical image generation. We pre-train our models on public data and finetune them with differential privacy on the UK Biobank dataset. Our experiments reveal that pre-training significantly improves model performance, achieving a Fr\'echet Inception Distance (FID) of 26.77 at $\epsilon=10$, compared to 92.52 for models without pre-training. Additionally, we explore the trade-off between privacy constraints and image quality, investigating how tighter privacy budgets affect output controllability and may lead to degraded performance. Our results demonstrate that proper consideration during training with differential privacy can substantially improve the quality of synthetic cardiac MRI images, but there are still notable challenges in achieving consistent medical realism.

With 95% of Internet traffic now encrypted, an effective approach to classifying this traffic is crucial for network security and management. This paper introduces ECHO -- a novel optimization process for ML/DL-based encrypted traffic classification. ECHO targets both classification time and memory utilization and incorporates two innovative techniques. The first component, HO (Hyperparameter Optimization of binnings), aims at creating efficient traffic representations. While previous research often uses representations that map packet sizes and packet arrival times to fixed-sized bins, we show that non-uniform binnings are significantly more efficient. These non-uniform binnings are derived by employing a hyperparameter optimization algorithm in the training stage. HO significantly improves accuracy given a required representation size, or, equivalently, achieves comparable accuracy using smaller representations. Then, we introduce EC (Early Classification of traffic), which enables faster classification using a cascade of classifiers adapted for different exit times, where classification is based on the level of confidence. EC reduces the average classification latency by up to 90\%. Remarkably, this method not only maintains classification accuracy but also, in certain cases, improves it. Using three publicly available datasets, we demonstrate that the combined method, Early Classification with Hyperparameter Optimization (ECHO), leads to a significant improvement in classification efficiency.

In this paper, we propose the FoMo (For\^et Montmorency) dataset: a comprehensive, multi-season data collection. Located in the Montmorency Forest, Quebec, Canada, our dataset will capture a rich variety of sensory data over six distinct trajectories totaling 6 kilometers, repeated through different seasons to accumulate 42 kilometers of recorded data. The boreal forest environment increases the diversity of datasets for mobile robot navigation. This proposed dataset will feature a broad array of sensor modalities, including lidar, radar, and a navigation-grade Inertial Measurement Unit (IMU), against the backdrop of challenging boreal forest conditions. Notably, the FoMo dataset will be distinguished by its inclusion of seasonal variations, such as changes in tree canopy and snow depth up to 2 meters, presenting new challenges for robot navigation algorithms. Alongside, we will offer a centimeter-level accurate ground truth, obtained through Post Processed Kinematic (PPK) Global Navigation Satellite System (GNSS) correction, facilitating precise evaluation of odometry and localization algorithms. This work aims to spur advancements in autonomous navigation, enabling the development of robust algorithms capable of handling the dynamic, unstructured environments characteristic of boreal forests. With a public odometry and localization leaderboard and a dedicated software suite, we invite the robotics community to engage with the FoMo dataset by exploring new frontiers in robot navigation under extreme environmental variations. We seek feedback from the community based on this proposal to make the dataset as useful as possible. For further details and supplementary materials, please visit https://norlab-ulaval.github.io/FoMo-website/., Comment: Accepted to the IEEE ICRA Workshop on Field Robotics 2024

Networks such as the Internet are essential for our connected world. Quantum computing poses a threat to this heterogeneous infrastructure since it threatens fundamental security mechanisms. Therefore, a migration to post-quantum-cryptography (PQC) is necessary for networks and their components. At the moment, there is little knowledge on how such migrations should be structured and implemented in practice. Our systematic literature review addresses migration approaches for IP networks towards PQC. It surveys papers about the migration process and exemplary real-world software system migrations. On the process side, we found that terminology, migration steps, and roles are not defined precisely or consistently across the literature. Still, we identified four major phases and appropriate substeps which we matched with also emerging archetypes of roles. In terms of real-world migrations, we see that reports used several different PQC implementations and hybrid solutions for migrations of systems belonging to a wide range of system types. Across all papers we noticed three major challenges for adopters: missing experience of PQC and a high realization effort, concerns about the security of the upcoming system, and finally, high complexity. Our findings indicate that recent standardization efforts already push quantum-safe networking forward. However, the literature is still not in consensus about definitions and best practices. Implementations are mostly experimental and not necessarily practical, leading to an overall chaotic situation. To better grasp this fast moving field of (applied) research, our systematic literature review provides a comprehensive overview of its current state and serves as a starting point for delving into the matter of PQC migration., Comment: 2 figures, 12 tables, 21 pages

The H1 Collaboration at HERA reports the first measurement of groomed event shape observables in deep inelastic electron-proton scattering (DIS) at $\sqrt{s}=319$ GeV, using data recorded between the years 2003 and 2007 with an integrated luminosity of $351$ pb$^{-1}$. Event shapes provide incisive probes of perturbative and non-perturbative QCD. Grooming techniques have been used for jet measurements in hadronic collisions; this paper presents the first application of grooming to DIS data. The analysis is carried out in the Breit frame, utilizing the novel Centauro jet clustering algorithm that is designed for DIS event topologies. Events are required to have squared momentum-transfer $Q^2 > 150$ GeV$^2$ and inelasticity $ 0.2 < y < 0.7$. We report measurements of the production cross section of groomed event 1-jettiness and groomed invariant mass for several choices of grooming parameter. Monte Carlo model calculations and analytic calculations based on Soft Collinear Effective Theory are compared to the measurements., Comment: 32 pages, 17 tables, 7 figures, version as accepted by EPJ C

The H1 Collaboration reports the first measurement of the 1-jettiness event shape observable $\tau_1^b$ in neutral-current deep-inelastic electron-proton scattering (DIS). The observable $\tau_1^b$ is equivalent to a thrust observable defined in the Breit frame. The data sample was collected at the HERA $ep$ collider in the years 2003-2007 with center-of-mass energy of $\sqrt{s}=319\,\text{GeV}$, corresponding to an integrated luminosity of $351.1\,\text{pb}^{-1}$. Triple differential cross sections are provided as a function of $\tau_1^b$, event virtuality $Q^2$, and inelasticity $y$, in the kinematic region $Q^2>150\,\text{GeV}^{2}$. Single differential cross section are provided as a function of $\tau_1^b$ in a limited kinematic range. Double differential cross sections are measured, in contrast, integrated over $\tau_1^b$ and represent the inclusive neutral-current DIS cross section measured as a function of $Q^2$ and $y$. The data are compared to a variety of predictions and include classical and modern Monte Carlo event generators, predictions in fixed-order perturbative QCD where calculations up to $\mathcal{O}(\alpha_s^3)$ are available for $\tau_1^b$ or inclusive DIS, and resummed predictions at next-to-leading logarithmic accuracy matched to fixed order predictions at $\mathcal{O}(\alpha_s^2)$. These comparisons reveal sensitivity of the 1-jettiness observable to QCD parton shower and resummation effects, as well as the modeling of hadronization and fragmentation. Within their range of validity, the fixed-order predictions provide a good description of the data. Monte Carlo event generators are predictive over the full measured range and hence their underlying models and parameters can be constrained by comparing to the presented data., Comment: 45 pages, 38 tables, 13 figures

The Breit frame provides a natural frame to analyze lepton-proton scattering events. In this reference frame, the parton model hard interactions between a quark and an exchanged boson defines the coordinate system such that the struck quark is back-scattered along the virtual photon momentum direction. In Quantum Chromodynamics (QCD), higher order perturbative or non-perturbative effects can change this picture drastically. As Bjorken-$x$ decreases below one half, a rather peculiar event signature is predicted with increasing probability, where no radiation is present in one of the two Breit-frame hemispheres and all emissions are to be found in the other hemisphere. At higher orders in $\alpha_s$ or in the presence of soft QCD effects, predictions of the rate of these events are far from trivial, and that motivates measurements with real data. We report on the first observation of the empty current hemisphere events in electron-proton collisions at the HERA collider using data recorded with the H1 detector at a center-of-mass energy of 319 GeV. The fraction of inclusive neutral-current DIS events with an empty hemisphere is found to be $0.0112 \pm 3.9\,\%_\text{stat} \pm 4.5\,\%_\text{syst} \pm 1.6\,\%_\text{mod}$ in the selected kinematic region of $150< Q^2<1500$ GeV$^2$ and inelasticity $0.14< y<0.7$. The data sample corresponds to an integrated luminosity of 351.1 pb$^{-1}$, sufficient to enable differential cross section measurements of these events. The results show an enhanced discriminating power at lower Bjorken-$x$ among different Monte Carlo event generator predictions., Comment: 13 pages, 5 figures, 2 Tables. This version as accepted for publication

A modern cold triple axis spectrometer is being planned for the High Flux Isotope Reactor (HFIR) at Oak Ridge National Laboratory. Here, we describe the design of an incident beamline that will put a flux of $\sim 10^8\mathrm{\frac{n}{cm^2 s}}$ on a sample with an area of 2 cm x 2 cm. It takes current physical constraints at HFIR into account and it can accommodate both single and multiplexed analyzer-detector secondary spectrometers and large superconducting magnets. The proposed incident beamline includes a multi-channel guide with horizontal focusing, a neutron velocity selector, components to facilitate an incident beam polarization option, and a double-focusing pyrolytic graphite monochromator. This work describes the process of optimizing the guide system and monochromator and summarizes the expected performance of the incident beamline for non-polarized operation.

A modern cold triple-axis spectrometer to study quantum condensed matter systems is planned for the High Flux Isotope Reactor (HFIR) at Oak Ridge National Laboratory. Here, we describe the conceptual principles and design of a secondary spectrometer using a multiplexed, prismatic analyzer system relying on graphite crystals and inspired by the successful implementation of the Continuous Angle Multiple Energy Analysis (CAMEA) spectrometers at the Paul Scherrer Institute. This project is currently known as MANTA for Multi-analyzer Neutron Triple-Axis. We report Monte-Carlo ray-tracing simulations on a simple but realistic sample scattering kernel to further illustrate the prismatic analyzer concept's workings, calibration, and performance. Then, we introduce a new statistical analysis approach based on the prismatic analyzer concept to improve the number of final energies measured on the spectrometer. We also study possible evolutions in the CAMEA design relevant for MANTA., Comment: 11 pages, 11 figures

Numerous datasets and benchmarks exist to assess and compare Simultaneous Localization and Mapping (SLAM) algorithms. Nevertheless, their precision must follow the rate at which SLAM algorithms improved in recent years. Moreover, current datasets fall short of comprehensive data-collection protocol for reproducibility and the evaluation of the precision or accuracy of the recorded trajectories. With this objective in mind, we proposed the Robotic Total Stations Ground Truthing dataset (RTS-GT) dataset to support localization research with the generation of six-Degrees Of Freedom (DOF) ground truth trajectories. This novel dataset includes six-DOF ground truth trajectories generated using a system of three Robotic Total Stations (RTSs) tracking moving robotic platforms. Furthermore, we compare the performance of the RTS-based system to a Global Navigation Satellite System (GNSS)-based setup. The dataset comprises around sixty experiments conducted in various conditions over a period of 17 months, and encompasses over 49 kilometers of trajectories, making it the most extensive dataset of RTS-based measurements to date. Additionally, we provide the precision of all poses for each experiment, a feature not found in the current state-of-the-art datasets. Our results demonstrate that RTSs provide measurements that are 22 times more stable than GNSS in various environmental settings, making them a valuable resource for SLAM benchmark development., Comment: 7 pages; Accepted to ICRA 2024

Benchmarks stand as vital cornerstones in elevating SLAM algorithms within mobile robotics. Consequently, ensuring accurate and reproducible ground truth generation is vital for fair evaluation. A majority of outdoor ground truths are generated by GNSS, which can lead to discrepancies over time, especially in covered areas. However, research showed that RTS setups are more precise and can alternatively be used to generate these ground truths. In our work, we compare both RTS and GNSS systems' precision and repeatability through a set of experiments conducted weeks and months apart in the same area. We demonstrated that RTS setups give more reproducible results, with disparities having a median value of 8.6 mm compared to a median value of 10.6 cm coming from a GNSS setup. These results highlight that RTS can be considered to benchmark process for SLAM algorithms with higher precision., Comment: Accepted and presented at IROS23, Workshop on Methods for Objective Comparison of Results in Intelligent Robotics Research