Related papers: MirrorDrift: Actuated Mirror-Based Attacks on LiDA…
While traditional electromagnetic stealth materials/metasurfaces can render a target virtually invisible to some extent, they lack flexibility and adaptability, and can only operate within a limited frequency and angle/direction range,…
This paper presents a comparative study of three modes for mobile robot localization based on visual SLAM using fiducial markers (i.e., square-shaped artificial landmarks with a black-and-white grid pattern): SLAM, SLAM with a prior map,…
Simultaneous localization and mapping (SLAM) is critical to the implementation of autonomous driving. Most LiDAR-inertial SLAM algorithms assume a static environment, leading to unreliable localization in dynamic environments. Moreover, the…
With their high-fidelity scene representation capability, the attention of SLAM field is deeply attracted by the Neural Radiation Field (NeRF) and 3D Gaussian Splatting (3DGS). Recently, there has been a surge in NeRF-based SLAM, while…
A framework for online simultaneous localization, mapping and self-calibration is presented which can detect and handle significant change in the calibration parameters. Estimates are computed in constant-time by factoring the problem and…
LiDAR sensors are widely used in autonomous vehicles to better perceive the environment. However, prior works have shown that LiDAR signals can be spoofed to hide real objects from 3D object detectors. This study explores the feasibility of…
3D surface reconstruction is essential across applications of virtual reality, robotics, and mobile scanning. However, RGB-based reconstruction often fails in low-texture, low-light, and low-albedo scenes. Handheld LiDARs, now common on…
Simultaneous localization and mapping (SLAM) is one of the essential techniques and functionalities used by robots to perform autonomous navigation tasks. Inspired by the rodent hippocampus, this paper presents a biologically inspired SLAM…
Loop closing and relocalization are crucial techniques to establish reliable and robust long-term SLAM by addressing pose estimation drift and degeneration. This article begins by formulating loop closing and relocalization within a unified…
Reliable localization is an essential capability for marine robots navigating in GPS-denied environments. SLAM, commonly used to mitigate dead reckoning errors, still fails in feature-sparse environments or with limited-range sensors. Pose…
Visual SLAM (Simultaneous Localization and Mapping) based on planar features has found widespread applications in fields such as environmental structure perception and augmented reality. However, current research faces challenges in…
In this paper, a three-dimensional light detection and ranging simultaneous localization and mapping (SLAM) method is proposed that is available for tracking and mapping with 500--1000 Hz processing. The proposed method significantly…
LLM-integrated applications and agents are vulnerable to prompt injection attacks, where adversaries embed malicious instructions within seemingly benign input data to manipulate the LLM's intended behavior. Recent defenses based on…
In an effort to increase the capabilities of SLAM systems and produce object-level representations, the community increasingly investigates the imposition of higher-level priors into the estimation process. One such example is given by…
In a backdoor attack, an adversary injects corrupted data into a model's training dataset in order to gain control over its predictions on images with a specific attacker-defined trigger. A typical corrupted training example requires…
Lidar-based simultaneous localization and mapping (SLAM) approaches have obtained considerable success in autonomous robotic systems. This is in part owing to the high-accuracy of robust SLAM algorithms and the emergence of new and…
Light-based adversarial attacks use spatial augmented reality (SAR) techniques to fool image classifiers by altering the physical light condition with a controllable light source, e.g., a projector. Compared with physical attacks that place…
Active stereo systems are used in many robotic applications that require 3D information. These depth sensors, however, suffer from stereo artefacts and do not provide dense depth estimates.In this work, we present the first self-supervised…
The current LiDAR SLAM (Simultaneous Localization and Mapping) system suffers greatly from low accuracy and limited robustness when faced with complicated circumstances. From our experiments, we find that current LiDAR SLAM systems have…
Speculative decoding accelerates LLM inference by using a draft model to look ahead, but gains are capped by the cost of autoregressive draft generation: increasing draft size elevates acceptance rates but introduces additional latency…