Related papers: Attacking the Loop: Adversarial Attacks on Graph-b…

In this paper, we propose a novel loop closure detection algorithm that uses graph attention neural networks to encode semantic graphs to perform place recognition and then use semantic registration to estimate the 6 DoF relative pose…

We present a simple yet effective method to address loop closure detection in simultaneous localisation and mapping using local 3D deep descriptors (L3Ds). L3Ds are emerging compact representations of patches extracted from point clouds…

The rapid growth of deep learning has brought about powerful models that can handle various tasks, like identifying images and understanding language. However, adversarial attacks, an unnoticed alteration, can deceive models, leading to…

The application of Deep Learning-based Schemes (DLSs) for detecting False Data Injection Attacks (FDIAs) in smart grids has attracted significant attention. This paper demonstrates that adversarial attacks, carefully crafted FDIAs, can…

Adversarial robustness of deep models is pivotal in ensuring safe deployment in real world settings, but most modern defenses have narrow scope and expensive costs. In this paper, we propose a self-supervised method to detect adversarial…

Deep learning is effective in graph analysis. It is widely applied in many related areas, such as link prediction, node classification, community detection, and graph classification etc. Graph embedding, which learns low-dimensional…

Ensuring and improving the safety of autonomous driving systems (ADS) is crucial for the deployment of highly automated vehicles, especially in safety-critical events. To address the rarity issue, adversarial scenario generation methods are…

Vision-based simultaneous localization and mapping (vSLAM) is a well-established problem in mobile robotics and monocular vSLAM is one of the most challenging variations of that problem nowadays. In this work we study one of the core…

Recent knowledge graph (KG)-enhanced large language models (LLMs) move beyond purely textual knowledge augmentation by encoding retrieved subgraphs into continuous soft prompts via graph neural networks, introducing a graph-conditioned…

Physical adversarial attacks on road signs are continuously exploiting vulnerabilities in modern day autonomous vehicles (AVs) and impeding their ability to correctly classify what type of road sign they encounter. Current models cannot…

The rapid growth in both the scale and complexity of Android malware has driven the widespread adoption of machine learning (ML) techniques for scalable and accurate malware detection. Despite their effectiveness, these models remain…

Despite demonstrating superior rate-distortion (RD) performance, learning-based image compression (LIC) algorithms have been found to be vulnerable to malicious perturbations in recent studies. However, the adversarial attacks considered in…

Simultaneous Localization And Mapping (SLAM) has become a crucial aspect in the fields of autonomous driving and robotics. One crucial component of visual SLAM is the Field-of-View (FoV) of the camera, as a larger FoV allows for a wider…

Simultaneous Localization and Mapping (SLAM) allows mobile robots to navigate without external positioning systems or pre-existing maps. Radar is emerging as a valuable sensing tool, especially in vision-obstructed environments, as it is…

Recent works demonstrate that GNN models are vulnerable to adversarial attacks, which refer to imperceptible perturbation on the graph structure and node features. Among various GNN models, graph contrastive learning (GCL) based methods…

Robust efficient loop closure detection is essential for large-scale real-time SLAM. In this paper, we propose a novel unsupervised deep neural network architecture of a feature embedding for visual loop closure that is both reliable and…

Graph neural networks, a popular class of models effective in a wide range of graph-based learning tasks, have been shown to be vulnerable to adversarial attacks. While the majority of the literature focuses on such vulnerability in…

Research into adversarial examples (AE) has developed rapidly, yet static adversarial patches are still the main technique for conducting attacks in the real world, despite being obvious, semi-permanent and unmodifiable once deployed. In…

For large-scale and long-term simultaneous localization and mapping (SLAM), a robot has to deal with unknown initial positioning caused by either the kidnapped robot problem or multi-session mapping. This paper addresses these problems by…

Contrastive learning (CL) has emerged as a powerful framework for learning representations of images and text in a self-supervised manner while enhancing model robustness against adversarial attacks. More recently, researchers have extended…