相关论文: PointGuard: Provably Robust 3D Point Cloud Classif…

High-resolution 3D point clouds are highly effective for detecting subtle structural anomalies in industrial inspection. However, their dense and irregular nature imposes significant challenges, including high computational cost,…

Point cloud models with neural network architectures have achieved great success and have been widely used in safety-critical applications, such as Lidar-based recognition systems in autonomous vehicles. However, such models are shown…

The wide adaption of 3D point-cloud data in safety-critical applications such as autonomous driving makes adversarial samples a real threat. Existing adversarial attacks on point clouds achieve high success rates but modify a large number…

Deep neural networks (DNNs) have demonstrated remarkable performance in analyzing 3D point cloud data. However, their vulnerability to adversarial attacks-such as point dropping, shifting, and adding-poses a critical challenge to the…

In recent years, significant progress has been achieved for 3D object detection on point clouds thanks to the advances in 3D data collection and deep learning techniques. Nevertheless, 3D scenes exhibit a lot of variations and are prone to…

Point cloud registration is a fundamental technique in 3-D computer vision with applications in graphics, autonomous driving, and robotics. However, registration tasks under challenging conditions, under which noise or perturbations are…

Point cloud is often regarded as a discrete sampling of Riemannian manifold and plays a pivotal role in the 3D image interpretation. Particularly, rotation perturbation, an unexpected small change in rotation caused by various factors (like…

Three-dimensional point cloud anomaly detection that aims to detect anomaly data points from a training set serves as the foundation for a variety of applications, including industrial inspection and autonomous driving. However, existing…

With the maturity of depth sensors, the vulnerability of 3D point cloud models has received increasing attention in various applications such as autonomous driving and robot navigation. Previous 3D adversarial attackers either follow the…

Despite extensive progress in point cloud robustness, existing methods primarily rely on augmentation strategies or defense mechanisms while overlooking the geometric nature of adversarial fragility. We hypothesize that adversarial…

Self-supervised methods have been proven effective for learning deep representations of 3D point cloud data. Although recent methods in this domain often rely on random masking of inputs, the results of this approach can be improved. We…

In the field of autonomous driving and robotics, point clouds are showing their excellent real-time performance as raw data from most of the mainstream 3D sensors. Therefore, point cloud neural networks have become a popular research…

Machine learning algorithms are known to be susceptible to data poisoning attacks, where an adversary manipulates the training data to degrade performance of the resulting classifier. In this work, we present a unifying view of randomized…

Adversarial attacks pose serious challenges for deep neural network (DNN)-based analysis of various input signals. In the case of three-dimensional point clouds, methods have been developed to identify points that play a key role in network…

In this paper, we present an end-to-end unsupervised anomaly detection framework for 3D point clouds. To the best of our knowledge, this is the first work to tackle the anomaly detection task on a general object represented by a 3D point…

End-to-end trained per-point embeddings are an essential ingredient of any state-of-the-art 3D point cloud processing such as detection or alignment. Methods like PointNet, or the more recent point cloud transformer -- and its variants --…

Robust environment perception is critical for autonomous cars, and adversarial defenses are the most effective and widely studied ways to improve the robustness of environment perception. However, all of previous defense methods decrease…

Adversary and invisibility are two fundamental but conflict characters of adversarial perturbations. Previous adversarial attacks on 3D point cloud recognition have often been criticized for their noticeable point outliers, since they just…

Deep 3D point cloud models are sensitive to adversarial attacks, which poses threats to safety-critical applications such as autonomous driving. Robust training and defend-by-denoising are typical strategies for defending adversarial…

3D point cloud models are widely applied in safety-critical scenes, which delivers an urgent need to obtain more solid proofs to verify the robustness of models. Existing verification method for point cloud model is time-expensive and…