相关论文: Adversarial samples for deep monocular 6D object p…

Recent studies have shown that Deep Leaning models are susceptible to adversarial examples, which are data, in general images, intentionally modified to fool a machine learning classifier. In this paper, we present a multi-objective nested…

6D pose estimation of textureless objects is a valuable but challenging task for many robotic applications. In this work, we propose a framework to address this challenge using only RGB images acquired from multiple viewpoints. The core…

Deep learning models, which are increasingly being used in the field of medical image analysis, come with a major security risk, namely, their vulnerability to adversarial examples. Adversarial examples are carefully crafted samples that…

This paper introduces a dataset for training and evaluating methods for 6D pose estimation of hand-held tools in task demonstrations captured by a standard RGB camera. Despite the significant progress of 6D pose estimation methods, their…

Recently, 3D deep learning models have been shown to be susceptible to adversarial attacks like their 2D counterparts. Most of the state-of-the-art (SOTA) 3D adversarial attacks perform perturbation to 3D point clouds. To reproduce these…

Estimating the 6D pose of objects is beneficial for robotics tasks such as transportation, autonomous navigation, manipulation as well as in scenarios beyond robotics like virtual and augmented reality. With respect to single image pose…

6D object pose estimation is a fundamental problem in computer vision. Convolutional Neural Networks (CNNs) have recently proven to be capable of predicting reliable 6D pose estimates even from monocular images. Nonetheless, CNNs are…

Recent work has documented the susceptibility of deep learning systems to adversarial examples, but most such attacks directly manipulate the digital input to a classifier. Although a smaller line of work considers physical adversarial…

Deep neural networks have been widely used in various downstream tasks, especially those safety-critical scenario such as autonomous driving, but deep networks are often threatened by adversarial samples. Such adversarial attacks can be…

Deep neural networks have been widely used in many computer vision tasks. However, it is proved that they are susceptible to small, imperceptible perturbations added to the input. Inputs with elaborately designed perturbations that can fool…

We present a novel method for detecting 3D model instances and estimating their 6D poses from RGB data in a single shot. To this end, we extend the popular SSD paradigm to cover the full 6D pose space and train on synthetic model data only.…

Despite excellent performance on stationary test sets, deep neural networks (DNNs) can fail to generalize to out-of-distribution (OoD) inputs, including natural, non-adversarial ones, which are common in real-world settings. In this paper,…

With the rapid advancement of deep learning, the model robustness has become a significant research hotspot, \ie, adversarial attacks on deep neural networks. Existing works primarily focus on image classification tasks, aiming to alter the…

In this work, we explore how a strategic selection of camera movements can facilitate the task of 6D multi-object pose estimation in cluttered scenarios while respecting real-world constraints important in robotics and augmented reality…

The deep neural network is vulnerable to adversarial examples. Adding imperceptible adversarial perturbations to images is enough to make them fail. Most existing research focuses on attacking image classifiers or anchor-based object…

Widely deployed deep neural network (DNN) models have been proven to be vulnerable to adversarial perturbations in many applications (e.g., image, audio and text classifications). To date, there are only a few adversarial perturbations…

Object 6D pose estimation is a fundamental task in many applications. Conventional methods solve the task by detecting and matching the keypoints, then estimating the pose. Recent efforts bringing deep learning into the problem mainly…

6D Object pose estimation is a fundamental component in robotics enabling efficient interaction with the environment. It is particularly challenging in bin-picking applications, where objects may be textureless and in difficult poses, and…

Object pose estimation has multiple important applications, such as robotic grasping and augmented reality. We present a new method to estimate the 6D pose of objects that improves upon the accuracy of current proposals and can still be…

Machine learning models have been shown vulnerable to adversarial attacks launched by adversarial examples which are carefully crafted by attacker to defeat classifiers. Deep learning models cannot escape the attack either. Most of…