University of Freiburg

Displaying 1-21 of 21 results

  • White Papers // Mar 2015

    Localization on OpenStreetMap Data using a 3D Laser Scanner

    To determine the pose of a vehicle is a fundamental problem in mobile robotics. Most approaches relate the current sensor observations to a map generated with previously acquired data of the same system or by another system with a similar sensor setup. Unfortunately, previously acquired data is not always available....

    Provided By University of Freiburg

  • White Papers // Nov 2014

    A Catadioptric Extension for RGB-D Cameras

    The typically restricted field of view of visual sensors often imposes limitations on the performance of localization and Simultaneous Localization And Mapping (SLAM) approaches. In this paper, the authors propose and analyze the combination of an RGB-D camera with two planar mirrors to split the field of view such that...

    Provided By University of Freiburg

  • White Papers // Feb 2014

    W-RGB-D: Floor-Plan-Based Indoor Global Localization Using a Depth Camera and WiFi

    Localization approaches typically rely on an already available map to identify the position of the sensor in the environment. Such maps are usually built beforehand and often require the user to record data from the same sensor used for localization. In this paper, the authors relax this assumption and present...

    Provided By University of Freiburg

  • White Papers // Jul 2013

    Dynamic Query Prioritization for In-Memory Databases

    In-memory database management systems have the potential to reduce the execution time of complex operational analytical queries to the order of seconds while executing business transactions in parallel. The main reasons for this increase of performance are massive intra-query parallelism on many-core CPUs and primary data storage in main memory...

    Provided By University of Freiburg

  • White Papers // Jun 2013

    Identification of Critical Variables using an FPGA-based Fault Injection Framework

    In recent research, Single-Event Upsets (SEUs) have been shown to occur in modern memory elements with a rate of about 5000 FIT per Mbit. The shrinking nanometer technologies of modern microprocessors and the aggressive supply voltage down-scaling drastically increase the risk of soft errors. In order to tackle this problem,...

    Provided By University of Freiburg

  • White Papers // Jun 2013

    Run-time Soft Error Injection and Testing of a Microprocessor using FPGAs

    Now-a-days, soft errors in logic circuits are becoming increasingly important. This is especially true in the ever shrinking nanometer technologies and aerospace applications where soft errors are more prevalent. Previous soft error injection simulation methods using FPGAs (Field Programmable Gate Arrays) have usually been limited to small test circuits such...

    Provided By University of Freiburg

  • White Papers // Jul 2012

    How to Store some Secrets

    This paper introduces a special type of symmetric cryptosystem called multi-encryption scheme. It allows users to encrypt multiple plaintexts into a single ciphertext. Each plaintext is protected with its own secret key, meaning that they can be decrypted individually by applying the decryption function with the corresponding key to the...

    Provided By University of Freiburg

  • White Papers // Jul 2011

    Access Permission Contracts for Scripting Languages

    The ideal software contract fully specifies the behavior of an operation. Often, in particular in the context of scripting languages, a full specification may be cumbersome to state and may not even be desired. In such cases, a partial specification, which describes selected aspects of the behavior, may be used...

    Provided By University of Freiburg

  • White Papers // Jun 2011

    Towards Modeling Real-World Aware Business Processes

    In this paper, the authors aim at bringing together the Web of Things (WoT) domain with the domain of enterprise business process modeling in order to work towards a Future Internet that includes all layers of networked technology stacks. They suggest introducing new notation concepts to the current business process...

    Provided By University of Freiburg

  • White Papers // Jun 2011

    An FPGA-Based Framework for Run-time Injection and Analysis of Soft Errors in Microprocessors

    State-of-the-art cyber-physical systems are increasingly deployed in harsh environments with non-negligible soft error rates, such as aviation or search-and-rescue missions. State-of-the-art nanoscale manufacturing technologies are more vulnerable to soft errors. In this paper, the authors present an FPGA based framework for injecting soft errors into user-specified memory elements of entire...

    Provided By University of Freiburg

  • White Papers // Apr 2011

    Automated Certification for Compliant Cloud-Based Business Processes

    Cloud Computing workflows need to adhere to a variety of rules and offer high flexibility. This is at odds with the compliance certification currently being carried out in a manual fashion. The paper presents Concert, an approach for the automated analysis of workflows. If a workflow does not adhere to...

    Provided By University of Freiburg

  • White Papers // Jan 2011

    Liquidity Provision, Ambiguous Asset Returns And The Financial Crisis

    For an economy with dysfunctional intertemporal financial markets the financial sector is modelled as a competitve banking sector offering deposit contracts. In a setting similar to Allen and Gale (1998,) properties of the optimal liquidity provision are analyzed for illiquid assets with ambiguous returns. In the context of the model,...

    Provided By University of Freiburg

  • White Papers // Dec 2010

    Access Permission Contracts

    The ideal software contract is a full specification of the behavior of an operation. Often, in particular in the context of scripting languages, a full specification can be cumbersome to state and may not even be desired. In such cases, a partial specification, which describes select aspects of the behavior,...

    Provided By University of Freiburg

  • White Papers // Jul 2010

    Learning Deformable Object Models for Mobile Robot Navigation using Depth Cameras and a Manipulation Robot

    In this paper, the authors present their recently developed robotic system that can navigate in environments with deformable objects. To achieve this, they propose techniques to learn models of deformable objects by physical interaction between the robot and the objects. They determine the model parameters by establishing a relation between...

    Provided By University of Freiburg

  • White Papers // Jun 2010

    YACZK: Yet Another Compiler for Zero-Knowledge

    Automatic generation of cryptographic protocols is an emerging field of research which aims to bring complex protocols into practice. In this paper the authors discuss the desired properties of a compiler for automatic generation of Zero-Knowledge Proof of Knowledge (ZKPoK) protocols. They evaluate and compare existing approaches with respect to...

    Provided By University of Freiburg

  • White Papers // Feb 2010

    Hierarchical Optimization on Manifolds for Online 2D and 3D Mapping

    In this paper, the authors present a new hierarchical optimization solution to the graph-based Simultaneous Localization And Mapping (SLAM) problem. During online mapping, the approach corrects only the coarse structure of the scene and not the overall map. In this way, only updates for the parts of the map that...

    Provided By University of Freiburg

  • White Papers // Dec 2009

    Recency Types for Analyzing Scripting Languages

    With the current surge of scripting technologies, large programs are being built with dynamically typed languages. As these programs grow in size, semantics-based tools gain importance for detecting programming errors as well as for program understanding. As a basis for such tools, the authors propose a descriptive type system for...

    Provided By University of Freiburg

  • White Papers // Dec 2009

    Wired Equivalent Privacy (WEP) Functionality, Weak Points, Attacks

    Wired Equivalent Privacy (WEP) is part of the IEEE 802.11 standard. It was introduced in the first revision of the document in 1999. WEP was supposed to provide confidentiality for messages passed between authorized users in IEEE 802.11 compatible networks. Today WEP is not state of the art anymore. There...

    Provided By University of Freiburg

  • White Papers // Sep 2009

    On the Design and Implementation of Efficient Zero-Knowledge Proofs of Knowledge

    Zero-Knowledge Proofs of Knowledge (ZK-PoK) play an important role in many cryptographic applications. Direct Anonymous Attestation (DAA) and the identity mixer anonymous authentication system are first real world applications using ZKPoK as building blocks. But although being used for many years now, design and implementation of sound ZK-PoK remains challenging....

    Provided By University of Freiburg

  • White Papers // Jan 2008

    Estimating Consistent Elevation Maps using Down-Looking Cameras and Inertial Sensors

    In this paper, the authors address the problem of efficiently tracking the pose of a camera in a 3D environment. They present an algorithm which is able to work with mono and stereo cameras and an attitude sensor. The camera position is estimated from corresponding features, and potential outliers are...

    Provided By University of Freiburg

  • White Papers // Jan 2006

    Metric Localization with Scale-Invariant Visual Features using a Single Perspective Camera

    The Scale Invariant Feature Transform (SIFT) has become a popular feature extractor for vision-based applications. It has been successfully applied to metric localization and mapping using stereo vision and omnivision. In this paper, the authors present an approach to Monte-Carlo localization using SIFT features for mobile robots equipped with a...

    Provided By University of Freiburg

  • White Papers // Dec 2009

    Wired Equivalent Privacy (WEP) Functionality, Weak Points, Attacks

    Wired Equivalent Privacy (WEP) is part of the IEEE 802.11 standard. It was introduced in the first revision of the document in 1999. WEP was supposed to provide confidentiality for messages passed between authorized users in IEEE 802.11 compatible networks. Today WEP is not state of the art anymore. There...

    Provided By University of Freiburg

  • White Papers // Apr 2011

    Automated Certification for Compliant Cloud-Based Business Processes

    Cloud Computing workflows need to adhere to a variety of rules and offer high flexibility. This is at odds with the compliance certification currently being carried out in a manual fashion. The paper presents Concert, an approach for the automated analysis of workflows. If a workflow does not adhere to...

    Provided By University of Freiburg

  • White Papers // Dec 2010

    Access Permission Contracts

    The ideal software contract is a full specification of the behavior of an operation. Often, in particular in the context of scripting languages, a full specification can be cumbersome to state and may not even be desired. In such cases, a partial specification, which describes select aspects of the behavior,...

    Provided By University of Freiburg

  • White Papers // Jul 2011

    Access Permission Contracts for Scripting Languages

    The ideal software contract fully specifies the behavior of an operation. Often, in particular in the context of scripting languages, a full specification may be cumbersome to state and may not even be desired. In such cases, a partial specification, which describes selected aspects of the behavior, may be used...

    Provided By University of Freiburg

  • White Papers // Dec 2009

    Recency Types for Analyzing Scripting Languages

    With the current surge of scripting technologies, large programs are being built with dynamically typed languages. As these programs grow in size, semantics-based tools gain importance for detecting programming errors as well as for program understanding. As a basis for such tools, the authors propose a descriptive type system for...

    Provided By University of Freiburg

  • White Papers // Jul 2012

    How to Store some Secrets

    This paper introduces a special type of symmetric cryptosystem called multi-encryption scheme. It allows users to encrypt multiple plaintexts into a single ciphertext. Each plaintext is protected with its own secret key, meaning that they can be decrypted individually by applying the decryption function with the corresponding key to the...

    Provided By University of Freiburg

  • White Papers // Jan 2008

    Estimating Consistent Elevation Maps using Down-Looking Cameras and Inertial Sensors

    In this paper, the authors address the problem of efficiently tracking the pose of a camera in a 3D environment. They present an algorithm which is able to work with mono and stereo cameras and an attitude sensor. The camera position is estimated from corresponding features, and potential outliers are...

    Provided By University of Freiburg

  • White Papers // Jul 2010

    Learning Deformable Object Models for Mobile Robot Navigation using Depth Cameras and a Manipulation Robot

    In this paper, the authors present their recently developed robotic system that can navigate in environments with deformable objects. To achieve this, they propose techniques to learn models of deformable objects by physical interaction between the robot and the objects. They determine the model parameters by establishing a relation between...

    Provided By University of Freiburg

  • White Papers // Jun 2013

    Identification of Critical Variables using an FPGA-based Fault Injection Framework

    In recent research, Single-Event Upsets (SEUs) have been shown to occur in modern memory elements with a rate of about 5000 FIT per Mbit. The shrinking nanometer technologies of modern microprocessors and the aggressive supply voltage down-scaling drastically increase the risk of soft errors. In order to tackle this problem,...

    Provided By University of Freiburg

  • White Papers // Jan 2006

    Metric Localization with Scale-Invariant Visual Features using a Single Perspective Camera

    The Scale Invariant Feature Transform (SIFT) has become a popular feature extractor for vision-based applications. It has been successfully applied to metric localization and mapping using stereo vision and omnivision. In this paper, the authors present an approach to Monte-Carlo localization using SIFT features for mobile robots equipped with a...

    Provided By University of Freiburg

  • White Papers // Nov 2014

    A Catadioptric Extension for RGB-D Cameras

    The typically restricted field of view of visual sensors often imposes limitations on the performance of localization and Simultaneous Localization And Mapping (SLAM) approaches. In this paper, the authors propose and analyze the combination of an RGB-D camera with two planar mirrors to split the field of view such that...

    Provided By University of Freiburg

  • White Papers // Mar 2015

    Localization on OpenStreetMap Data using a 3D Laser Scanner

    To determine the pose of a vehicle is a fundamental problem in mobile robotics. Most approaches relate the current sensor observations to a map generated with previously acquired data of the same system or by another system with a similar sensor setup. Unfortunately, previously acquired data is not always available....

    Provided By University of Freiburg

  • White Papers // Jun 2013

    Run-time Soft Error Injection and Testing of a Microprocessor using FPGAs

    Now-a-days, soft errors in logic circuits are becoming increasingly important. This is especially true in the ever shrinking nanometer technologies and aerospace applications where soft errors are more prevalent. Previous soft error injection simulation methods using FPGAs (Field Programmable Gate Arrays) have usually been limited to small test circuits such...

    Provided By University of Freiburg

  • White Papers // Feb 2014

    W-RGB-D: Floor-Plan-Based Indoor Global Localization Using a Depth Camera and WiFi

    Localization approaches typically rely on an already available map to identify the position of the sensor in the environment. Such maps are usually built beforehand and often require the user to record data from the same sensor used for localization. In this paper, the authors relax this assumption and present...

    Provided By University of Freiburg

  • White Papers // Jun 2011

    An FPGA-Based Framework for Run-time Injection and Analysis of Soft Errors in Microprocessors

    State-of-the-art cyber-physical systems are increasingly deployed in harsh environments with non-negligible soft error rates, such as aviation or search-and-rescue missions. State-of-the-art nanoscale manufacturing technologies are more vulnerable to soft errors. In this paper, the authors present an FPGA based framework for injecting soft errors into user-specified memory elements of entire...

    Provided By University of Freiburg

  • White Papers // Jan 2011

    Liquidity Provision, Ambiguous Asset Returns And The Financial Crisis

    For an economy with dysfunctional intertemporal financial markets the financial sector is modelled as a competitve banking sector offering deposit contracts. In a setting similar to Allen and Gale (1998,) properties of the optimal liquidity provision are analyzed for illiquid assets with ambiguous returns. In the context of the model,...

    Provided By University of Freiburg

  • White Papers // Feb 2010

    Hierarchical Optimization on Manifolds for Online 2D and 3D Mapping

    In this paper, the authors present a new hierarchical optimization solution to the graph-based Simultaneous Localization And Mapping (SLAM) problem. During online mapping, the approach corrects only the coarse structure of the scene and not the overall map. In this way, only updates for the parts of the map that...

    Provided By University of Freiburg

  • White Papers // Jun 2010

    YACZK: Yet Another Compiler for Zero-Knowledge

    Automatic generation of cryptographic protocols is an emerging field of research which aims to bring complex protocols into practice. In this paper the authors discuss the desired properties of a compiler for automatic generation of Zero-Knowledge Proof of Knowledge (ZKPoK) protocols. They evaluate and compare existing approaches with respect to...

    Provided By University of Freiburg

  • White Papers // Sep 2009

    On the Design and Implementation of Efficient Zero-Knowledge Proofs of Knowledge

    Zero-Knowledge Proofs of Knowledge (ZK-PoK) play an important role in many cryptographic applications. Direct Anonymous Attestation (DAA) and the identity mixer anonymous authentication system are first real world applications using ZKPoK as building blocks. But although being used for many years now, design and implementation of sound ZK-PoK remains challenging....

    Provided By University of Freiburg

  • White Papers // Jun 2011

    Towards Modeling Real-World Aware Business Processes

    In this paper, the authors aim at bringing together the Web of Things (WoT) domain with the domain of enterprise business process modeling in order to work towards a Future Internet that includes all layers of networked technology stacks. They suggest introducing new notation concepts to the current business process...

    Provided By University of Freiburg

  • White Papers // Jul 2013

    Dynamic Query Prioritization for In-Memory Databases

    In-memory database management systems have the potential to reduce the execution time of complex operational analytical queries to the order of seconds while executing business transactions in parallel. The main reasons for this increase of performance are massive intra-query parallelism on many-core CPUs and primary data storage in main memory...

    Provided By University of Freiburg