相关论文: PointCert: Point Cloud Classification with Determi…

Adversarial examples pose a security risk as they can alter decisions of a machine learning classifier through slight input perturbations. Certified robustness has been proposed as a mitigation where given an input $\mathbf{x}$, a…

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…

Point cloud data now are popular data representations in a number of three-dimensional (3D) vision research realms. However, due to the limited performance of sensors and sensing noise, the raw data usually suffer from sparsity, noise, and…

Learning-based point cloud registration methods can handle clean point clouds well, while it is still challenging to generalize to noisy, partial, and density-varying point clouds. To this end, we propose a novel point cloud registration…

Point cloud is an important type of geometric data structure. Due to its irregular format, most researchers transform such data to regular 3D voxel grids or collections of images. This, however, renders data unnecessarily voluminous and…

With the proposition of neural networks for point clouds, deep learning has started to shine in the field of 3D object recognition while researchers have shown an increased interest to investigate the reliability of point cloud networks by…

Adversarial robustness of machine learning models has attracted considerable attention over recent years. Adversarial attacks undermine the reliability of and trust in machine learning models, but the construction of more robust models…

Producing traversability maps and understanding the surroundings are crucial prerequisites for autonomous navigation. In this paper, we address the problem of traversability assessment using point clouds. We propose a novel pillar feature…

The advent of deep neural networks has led to remarkable progress in 3D point cloud recognition, but they remain vulnerable to adversarial attacks. Although various defense methods have been studied, they suffer from a trade-off between…

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 registration is a key problem for computer vision applied to robotics, medical imaging, and other applications. This problem involves finding a rigid transformation from one point cloud into another so that they align. Iterative…

Point cloud is an important 3D data representation widely used in many essential applications. Leveraging deep neural networks, recent works have shown great success in processing 3D point clouds. However, those deep neural networks are…

This paper proposes a general solution to enable point cloud recognition models to handle distribution shifts at test time. Unlike prior methods, which rely heavily on training data (often inaccessible during online inference) and are…

Deep neural networks are known to be vulnerable to adversarial examples which are carefully crafted instances to cause the models to make wrong predictions. While adversarial examples for 2D images and CNNs have been extensively studied,…

Point cloud compression (PCC) has made remarkable achievement in recent years. In the mean time, point cloud quality assessment (PCQA) also realize gratifying development. Some recently emerged metrics present robust performance on public…

Probabilistic Point Clouds Registration (PPCR) is an algorithm that, in its multi-iteration version, outperformed state of the art algorithms for local point clouds registration. However, its performances have been tested using a fixed high…

Point cloud filtering is a fundamental problem in geometry modeling and processing. Despite of significant advancement in recent years, the existing methods still suffer from two issues: 1) they are either designed without preserving sharp…

Deep neural networks on 3D point cloud data have been widely used in the real world, especially in safety-critical applications. However, their robustness against corruptions is less studied. In this paper, we present ModelNet40-C, the…

Point cloud segmentation is a fundamental task in 3D. Despite recent progress on point cloud segmentation with the power of deep networks, current deep learning methods based on the clean label assumptions may fail with noisy labels. Yet,…

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…