相关论文: Robustness Certification for Point Cloud Models

The increasing adoption of 3D point cloud data in various applications, such as autonomous vehicles, robotics, and virtual reality, has brought about significant advancements in object recognition and scene understanding. However, this…

The rotation robustness property has drawn much attention to point cloud analysis, whereas it still poses a critical challenge in 3D object detection. When subjected to arbitrary rotation, most existing detectors fail to produce expected…

The reconstruction of real-world surfaces is on high demand in various applications. Most existing reconstruction approaches apply 3D scanners for creating point clouds which are generally sparse and of low density. These points clouds will…

Adversarial examples pose a security threat to many critical systems built on neural networks (such as face recognition systems, and self-driving cars). While many methods have been proposed to build robust models, how to build certifiably…

Recent studies show that deep neural networks (DNN) are vulnerable to adversarial examples, which aim to mislead DNNs by adding perturbations with small magnitude. To defend against such attacks, both empirical and theoretical defense…

In this paper, we consider the problem of certifying the robustness of neural networks to perturbed and adversarial input data. Such certification is imperative for the application of neural networks in safety-critical decision-making and…

3D point cloud has been widely used in applications such as self-driving cars, robotics, CAD models, etc. To the best of our knowledge, these applications raised the issue of privacy leakage in 3D point clouds, which has not been studied…

3D point cloud registration is a fundamental task in robotics and computer vision. Recently, many learning-based point cloud registration methods based on correspondences have emerged. However, these methods heavily rely on such…

The recent advances in 3D sensing technology have made possible the capture of point clouds in significantly high resolution. However, increased detail usually comes at the expense of high storage, as well as computational costs in terms of…

Machine learning models are susceptible to a variety of attacks that can erode trust, including attacks against the privacy of training data, and adversarial examples that jeopardize model accuracy. Differential privacy and certified…

Implicit models such as Deep Equilibrium Models (DEQs) have emerged as promising alternative approaches for building deep neural networks. Their certified robustness has gained increasing research attention due to security concerns.…

Safety of the Intended Functionality (SOTIF) addresses sensor performance limitations and deep learning-based object detection insufficiencies to ensure the intended functionality of Automated Driving Systems (ADS). This paper presents a…

In this discussion paper, we survey recent research surrounding robustness of machine learning models. As learning algorithms become increasingly more popular in data-driven control systems, their robustness to data uncertainty must be…

Point clouds are often the default choice for many applications as they exhibit more flexibility and efficiency than volumetric data. Nevertheless, their unorganized nature -- points are stored in an unordered way -- makes them less suited…

We propose the first fast and certifiable algorithm for the registration of two sets of 3D points in the presence of large amounts of outlier correspondences. We first reformulate the registration problem using a Truncated Least Squares…

As ML models are increasingly deployed in critical applications, robustness against adversarial perturbations is crucial. While numerous defenses have been proposed to counter such attacks, they typically assume that all adversarial…

Rigid point cloud registration is a fundamental problem and highly relevant in robotics and autonomous driving. Nowadays deep learning methods can be trained to match a pair of point clouds, given the transformation between them. However,…

We present a novel differential matching algorithm for 3D point cloud registration. Instead of only optimizing the feature extractor for a matching algorithm, we propose a learning-based matching module optimized to the jointly-trained…

With the rapid advancement of 3D sensing technologies, obtaining 3D shape information of objects has become increasingly convenient. Lidar technology, with its capability to accurately capture the 3D information of objects at long…

In recent years, the performance of point cloud models has been rapidly improved. However, due to the limited amount of relevant explainability studies, the unreliability and opacity of these black-box models may lead to potential risks in…