相关论文: Robustness Certification for Point Cloud Models

Change detection from traditional \added{2D} optical images has limited capability to model the changes in the height or shape of objects. Change detection using 3D point cloud \added{from photogrammetry or LiDAR surveying} can fill this…

Accurate 3D geometry acquisition is essential for a wide range of applications, such as computer graphics, autonomous driving, robotics, and augmented reality. However, raw point clouds acquired in real-world environments are often…

In deep learning applications, robustness measures the ability of neural models that handle slight changes in input data, which could lead to potential safety hazards, especially in safety-critical applications. Pre-deployment assessment of…

Advancements in sensors, algorithms, and compute hardware have made 3D perception feasible in real time. Current methods to compare and evaluate the quality of a 3D model, such as Chamfer, Hausdorff, and Earth-Mover's distance, are…

Certified robustness circumvents the fragility of defences against adversarial attacks, by endowing model predictions with guarantees of class invariance for attacks up to a calculated size. While there is value in these certifications, the…

Due to the density inconsistency and distribution difference between cross-source point clouds, previous methods fail in cross-source point cloud registration. We propose a density-robust feature extraction and matching scheme to achieve…

We propose a methodology for robust, real-time place recognition using an imaging lidar, which yields image-quality high-resolution 3D point clouds. Utilizing the intensity readings of an imaging lidar, we project the point cloud and obtain…

Despite the exploding interest in graph neural networks there has been little effort to verify and improve their robustness. This is even more alarming given recent findings showing that they are extremely vulnerable to adversarial attacks…

Point Cloud Registration is the problem of aligning the corresponding points of two 3D point clouds referring to the same object. The challenges include dealing with noise and partial match of real-world 3D scans. For non-rigid objects,…

The possibility of errors in human-engineered formal verification software, such as model checkers, poses a serious threat to the purpose of these tools. An established approach to mitigate this problem are certificates -- lightweight,…

Pre-trained large-scale models have exhibited remarkable efficacy in computer vision, particularly for 2D image analysis. However, when it comes to 3D point clouds, the constrained accessibility of data, in contrast to the vast repositories…

Reinforcement Learning (RL) from raw visual input has achieved impressive successes in recent years, yet it remains fragile to out-of-distribution variations such as changes in lighting, color, and viewpoint. Point Cloud Reinforcement…

3D Point cloud registration is still a very challenging topic due to the difficulty in finding the rigid transformation between two point clouds with partial correspondences, and it's even harder in the absence of any initial estimation…

The usage of environment sensor models for virtual testing is a promising approach to reduce the testing effort of autonomous driving. However, in order to deduce any statements regarding the performance of an autonomous driving function…

Recent developments and the beginning market introduction of high-resolution imaging 4D (3+1D) radar sensors have initialized deep learning-based radar perception research. We investigate deep learning-based models operating on radar point…

ML models are typically trained using large datasets of high quality. However, training datasets often contain inconsistent or incomplete data. To tackle this issue, one solution is to develop algorithms that can check whether a prediction…

Deep neural networks for 3D point cloud classification, such as PointNet, have been demonstrated to be vulnerable to adversarial attacks. Current adversarial defenders often learn to denoise the (attacked) point clouds by reconstruction,…

The increasing use of machine learning in safety-critical domains amplifies the risk of adversarial threats, especially data poisoning attacks that corrupt training data to degrade performance or induce unsafe behavior. Most existing…

Point cloud learning has lately attracted increasing attention due to its wide applications in many areas, such as computer vision, autonomous driving, and robotics. As a dominating technique in AI, deep learning has been successfully used…

We introduce ModelNet40-E, a new benchmark designed to assess the robustness and calibration of point cloud classification models under synthetic LiDAR-like noise. Unlike existing benchmarks, ModelNet40-E provides both noise-corrupted point…