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Aiming at the high computational complexity of the traditional Rao-Blackwellized Particle Filtering (RBPF) method for simultaneous localization and Mapping (SLAM), an optimization method of RBPF-SLAM system is proposed, which is based on lidar and least square line segment feature extraction as well as raster, reliability mapping continuity. Validation test results show that less storage in constructing a map with this method is occupied, and the computational complexity is significantly reduced. The effect of noise data on feature data extraction results is effectively avoided. It also solves the problem of error accumulation caused by noninteger grid size movement of unmanned vehicle in time update stage based on Markov positioning scheme. The improved RBPF-SLAM method can enable the unmanned vehicle to construct raster map in real time, and the efficiency and accuracy of map construction are significantly improved.

Side-channel attack (SCA) and fault attack (FA) are two classical physical attacks against cryptographic implementation. In order to resist them, we present a combined countermeasure scheme which can resist both SCA and FA. The scheme combines threshold implementation and duplication-based exchange techniques. The exchange technique can confuse the fault propagation path and randomize the faulty values. The threshold implementation technique can ensure a provable security against SCA. Moreover, it can also help to resist the FA by its incomplete property and random numbers. Compared with other methods, the proposed scheme has simple structure, which can be easily implemented in hardware and result in a low implementation cost. Finally, we present a detailed design for the block cipher light encryption device (LED) and implement it. The hardware cost evaluation shows our scheme has the minimum overhead factor.

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