Abstract

Concerns on widespread use of biometric authentication systems are primarily centered around template security, revocability, and privacy. The use of cryptographic primitives to bolster the authentication process can alleviate some of these concerns as shown by biometric cryptosystems. In this paper, we propose a provably secure and blind biometric authentication protocol, which addresses the concerns of user’s privacy, template protection, and trust issues. The protocol is blind in the sense that it reveals only the identity, and no additional information about the user or the biometric to the authenticating server or vice-versa. As the protocol is based on asymmetric encryption of the biometric data, it captures the advantages of biometric authentication as well as the security of public key cryptography. The authentication protocol can run over public networks and provide nonrepudiable identity verification. The encryption also provides template protection, the ability to revoke enrolled templates, and alleviates the concerns on privacy in widespread use of biometrics. The proposed approach makes no restrictive assumptions on the biometric data and is hence applicable to multiple biometrics. Such a protocol has significant advantages over existing biometric cryptosystems, which use a biometric to secure a secret key, which in turn is used for authentication. We analyze the security of the protocol under various attack scenarios. Experimental results on four biometric datasets (face, iris, hand geometry, and fingerprint) show that carrying out the authentication in the encrypted domain does not affect the accuracy, while the encryption key acts as an additional layer of security.

Abstract

This paper introduces an efficient privacy-preserving protocol for distributed K-means clustering over an arbitrary partitioned data, shared among N parties. Clustering is one of the fundamental algorithms used in the field of data mining. Advances in data acquisition methodologies have resulted in collection and storage of vast quantities of user’s personal data. For mutual benefit, organizations tend to share their data for analytical purposes, thus raising privacy concerns for the users. Over the years, numerous attempts have been made to introduce privacy and security at the expense of massive additional communication costs. The approaches suggested in the literature make use of the cryptographic protocols such as Secure Multiparty Computation (SMC) and/or homomorphic encryption schemes like Paillier’s encryption. Methods using such schemes have proven communication overheads. And in practice are found to be slower by a factor of more than 106. In light of the practical limitations posed by privacy using the traditional approaches, we explore a paradigm shift to side-step the expensive protocols of SMC. In this work, we use the paradigm of secret sharing, which allows the data to be divided into multiple shares and processed separately at different servers. Using the paradigm of secret sharing, allows us to design a provably-secure, cloud computing based solution which has negligible communication overhead compared to SMC and is hence over a million times faster than similar SMC based protocols

Abstract

The use of camera as a biometric sensor is desirable due to its ubiquity and low cost, especially for mobile devices. Palmprint is an effective modality in such cases due to its discrimination power, ease of presentation and the scale and size of texture for capture by commodity cameras. However, the unconstrained nature of pose and lighting introduces several challenges in the recognition process. Even minor changes in pose of the palm can induce significant changes in the visibility of the lines. We turn this property to our advantage by capturing a short video, where the natural palm motion induces minor pose variations, providing additional texture information. We propose a method to register multiple frames of the video without requiring correspondence, while being efficient. Experimental results on a set of different 100 palms show that the use of multiple frames reduces the error rate from 12.75% to 4.7%. We also propose a method for detection of poor quality samples due to specularities and motion blur, which further reduces the EER to 1.8%.

Abstract

We present a complete online handwritten character recognition system for Indian languages that handles the ambiguities in segmentation as well as recognition of the strokes. The recognition is based on a generative model of handwriting formation, coupled with a discriminative model for classification of strokes. Such an approach can seamlessly integrate language and script information in the generative model and deal with similar strokes using the discriminative stroke classification model. The recognition is performed in a purely bottomup fashion, starting with the strokes, and the ambiguities at each stage are preserved and transferred to the next stage for obtaining the most probable results at each stage. We also present the results of various preprocessing, feature selection and classification studies on a large data set collected from native language writers in two different Indian languages: Malayalam and Telugu. The system achieves a stroke level accuracy of 95.78% and 95.12% on Malayalam and Telugu data, respectively. The akshara level accuracy of the system is around 78% on a corpus of 60, 492 words from 367 writers.

Abstract

Capturing the shape and texture of large structures such as monuments and statues at very high resolution is extremely expensive, both in terms of time as well as storage space. In many cases the finer details are generated by surface properties of the material, and the appearance is statistically uniform. In this paper, we present an approach to add surface details to a coarse 3D model of an object based on two additional information: a set of images of the object and a high resolution model of the material that the object is made of. The material model that we employ is the Polynomial Texture Map (PTM), which captures the appearance of a surface under various illumination conditions. We use the observed images of the object as constraints to synthesize texture samples for each triangle of the object under any given illumination. The primary challenge is to synthesize a polynomial model of the texture, where the constraints arise in the image domain. We use the knowledge of object illumination to map the texture models into image space and compute the optimal patch. The texture transfer then happens as a complete 3D texturemodel. We also consider the problems of pose, scale, reflectance and smoothness of surface while carrying out the texture transfer. We synthesize the texture of an object at a per-triangle basis while carrying out operations such as normalization and blending to take care of discontinuities at the edges.

Abstract

The Modular Legged robotic system [1] "Mod-Leg" presented here has been bio-inspired from a Snake's vertebrae and a caterpillar's legged structure. The system can be configured to a 4-legged robotic dog, a hexapod, a caterpillar and a Snake robot. This robot's novel design achieves compliance to the terrain using a combination of legs and electronically actuated universal spine. A unique simulator has been designed for this purpose. Some of the things we learned while developing this robotic system have been presented below.

Abstract

The process of scancorrelation is very useful in map building and localization in environments without any easily discernible landmarks. It involves estimating the relative transform between two given scans of data. This can be formulated as a posterior estimation problem over the transformation space. Since the posterior, the action model and the likelihood function are mostly nonlinear, a particle filter is used to estimate this posterior [1]. A GMM based correlation scheme has been used in [2] to drive the scan correlation process. In this paper, we propose a 3 step particle filtering approach that combines the simplicity and efficiency of the particle filter with the robustness of the GMM based correlation scheme. Experimental results are provided to verify the effectiveness of this approach.

Abstract

The task of the robot in localization is to find out where it is, through sensing and motion. In environments which possess relatively few features that enable a robot to unambiguously determine its location, global localization algorithms can result in ‘multiple hypotheses’ locations of a robot. This is inevitable with global localization algorithms, as the local environment seen by a robot repeats at other parts of the map. Thus, for effective localization, the robot has to be actively guided to those locations where there is a maximum chance of eliminating most of the ambiguous states — which is often referred to as ‘active localization’. When extended to multi-robotic scenarios where all robots possess more than one hypothesis of their position, there is an opportunity to do better by using robots, apart from obstacles, as ‘hypotheses resolving agents’. The paper presents a unified framework which accounts for the map structure as well as measurement amongst robots, while guiding a set of robots to locations where they can singularize to a unique state. The strategy shepherds the robots to places where the probability of obtaining a unique hypothesis for a set of multiple robots is a maximum. Another aspect of framework demonstrates the idea of dispatching localized robots to locations where they can assist a maximum of the remaining unlocalized robots to overcome their ambiguity, named as ‘coordinated localization’. The appropriateness of our approach is demonstrated empirically in both simulation & real-time (on Amigo-bots) and its efficacy verified. Extensive comparative analysis portrays the advantage of the current method over others that do not perform active localization in a multi-robotic sense. It also portrays the performance gain by considering map structure and robot placement to actively localize over methods that consider only one of them or neither. Theoretical backing stems from the proven completeness of the method for a large category of diverse environments.

Abstract

A multi-robotic exploration with the requirement of communication link to a fixed base station is presented in this paper. The robots organize themselves into roles of maintainers of communication (hinged robots or robot nodes) or explorers of the environment ensuring that every robot is in contact with the base station directly or through the hinged robots. A two phased strategy for the same is presented. The first phase is characterized by a recursive growth of trees that starts from the root node or the base station and then repeated from other nodes of the hitherto grown tree in a depth first fashion. The second phase constitutes the recursive tree growth invoked repeatedly from the frontier nodes. While the first phase rapidly explores areas around the base station in a concentric fashion, the second phase extends the depth of the explored area to increase the limits of coverage. The strategy is consistent in that none of the robots loose contact with the base station. Extensive simulations confirm the efficacy of the method and comparisons portray performance gain in terms of exploration time and absence of deadlocks vis-a-vis the few methods previously reported in the literature.

Abstract

A vision based exploration algorithm that invokes semantic cues for constructing a hybrid map of images - a combination of semantic and topological maps is presented in this paper. At the top level the map is a graph of semantic constructs. Each node in the graph is a semantic construct or label such as a room or a corridor, the edge represented by a transition region such as a doorway that links the two semantic constructs. Each semantic node embeds within it a topological graph that constitutes the map at the middle level. The topological graph is a set of nodes, each node representing an image of the higher semantic construct. At the low level the topological graph embeds metric values and relations, where each node embeds the pose of the robot from which the image was taken and any two nodes in the graph are related by a transformation consisting of a rotation and translation. The exploration algorithm explores a semantic construct completely before moving or branching onto a new construct. Within each semantic construct it uses a local feature based exploration algorithm that uses a combination of local and global decisions to decide the next best place to move. During the process of exploring a semantic construct it identifies transition regions that serve as gateways to move from that construct to another. The exploration is deemed complete when all transition regions are marked visited. Loop detection happens at transition regions and graph relaxation techniques are used to close loops when detected to obtain a consistent metric embedding of the robot poses. Semantic constructs are labeled using a visual bag of words (VBOW) representation with a probabilistic SVM classifier.