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Unfortunately, signal transmission in vehicles is vulnerable to passive and active cyber-physical attacks that may result in loss of intellectual property, or worse yet, the loss of control of a vehicle, potentially causing great harm. Therefore, it is important to investigate efficient cryptographic methods to secure signal transmission in such vehicles against outside threats. This study is motivated by the observation that previous publications have suggested legacy algorithms, which are either inefficient or insecure for vision-based signals. We show how stream ciphers and authenticated encryption can be applied to transfer sensor data securely and efficiently between computing devices suitable for distributed guidance, navigation, and control systems. We provide an efficient and flexible pipeline of cryptographic operations on image and point cloud data in the Robot Operating System (ROS). We also demonstrate how image data can be compressed to reduce the amount of data to be encrypted, transmitted, and decrypted. Experiments on embedded computers verify that modern software cryptographic algorithms perform very well on large sensor data. 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Fossen, voluntarily agree to participate in this research study.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent to participate"}},{"value":"The authors, \u00d8ystein Volden, Petter Soln\u00f8r, Slobodan Petrovic, and Thor I. Fossen, give their consent for information about themselves to be published in the Journal of Intelligent & Robotic Systems. We understand that the text and any pictures or videos published in the article will be used only in educational publications intended for professionals, or if the publication or product is published on an open access basis. We understand that it will be freely available on the internet and may be seen by the general public. We understand that the pictures and text may also appear on other websites or in print, may be translated into other languages or used for commercial purposes. We understand that the information will be published without our child\u2019s name attached, but that full anonymity cannot be guaranteed. We have been offered the opportunity to read the manuscript. We acknowledge that it is not possible to ensure complete anonymity, and someone may be able to recognize me. However, by signing this consent form we do not in any way give up, waive or remove my rights to privacy. I may revoke my consent at any time before publication, but once the information has been committed to publication (\u201cgone to press\u201d), revocation of the consent is no longer possible.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"<!--Emphasis Type='Bold' removed-->Consent for Publication"}},{"value":"The authors have no conflicts of interest to declare that are relevant to the content of this article.","order":5,"name":"Ethics","group":{"name":"EthicsHeading","label":"<!--Emphasis Type='Bold' removed-->Competing interests"}}],"article-number":"26"}}