相关论文: SLACK: Attacking LiDAR-based SLAM with Adversarial…

Current adversarial attacks for multi-class classifiers choose the target class for a given input naively, based on the classifier's confidence levels for various target classes. We present a novel adversarial targeting method, \textit{MALT…

The mobile robot relies on SLAM (Simultaneous Localization and Mapping) to provide autonomous navigation and task execution in complex and unknown environments. However, it is hard to develop a dedicated algorithm for mobile robots due to…

While multi-step adversarial training is widely popular as an effective defense method against strong adversarial attacks, its computational cost is notoriously expensive, compared to standard training. Several single-step adversarial…

LiDAR odometry can achieve accurate vehicle pose estimation for short driving range or in small-scale environments, but for long driving range or in large-scale environments, the accuracy deteriorates as a result of cumulative estimation…

LiDAR (Light Detection And Ranging) is an essential and widely adopted sensor for autonomous vehicles, particularly for those vehicles operating at higher levels (L4-L5) of autonomy. Recent work has demonstrated the promise of deep-learning…

Deep reinforcement learning (DRL) has emerged as a promising paradigm for autonomous driving. However, despite their advanced capabilities, DRL-based policies remain highly vulnerable to adversarial attacks, posing serious safety risks in…

LiDAR-based place recognition is one of the key components of SLAM and global localization in autonomous vehicles and robotics applications. With the success of DL approaches in learning useful information from 3D LiDARs, place recognition…

In an effort to increase the capabilities of SLAM systems and produce object-level representations, the community increasingly investigates the imposition of higher-level priors into the estimation process. One such example is given by…

Lidar SLAM plays a significant role in mobile robot navigation and high-definition map construction. However, existing methods often face a trade-off between localization accuracy and system robustness in scenarios with a high proportion of…

As physical adversarial attacks become extensively applied in unearthing the potential risk of security-critical scenarios, especially in dynamic scenarios, their vulnerability to environmental variations has also been brought to light. The…

Adversarial attacks against Large Vision-Language Models (LVLMs) are crucial for exposing safety vulnerabilities in modern multimodal systems. Recent attacks based on input transformations, such as random cropping, suggest that spatially…

Adversarial attacks pose significant threats to machine learning models by introducing carefully crafted perturbations that cause misclassification. While prior work has primarily focused on MNIST and similar datasets, this paper…

Semantic segmentation is one of the most fundamental problems in computer vision with significant impact on a wide variety of applications. Adversarial learning is shown to be an effective approach for improving semantic segmentation…

An efficient hardware implementation for Simultaneous Localization and Mapping (SLAM) methods is of necessity for mobile autonomous robots with limited computational resources. In this paper, we propose a resource-efficient FPGA…

LiDAR point cloud maps are extensively utilized on roads for robot navigation due to their high consistency. However, dense point clouds face challenges of high memory consumption and reduced maintainability for long-term operations. In…

Most real-time autonomous robot applications require a robot to traverse through a dynamic space for a long time. In some cases, a robot needs to work in the same environment. Such applications give rise to the problem of a life-long SLAM…

Autonomous Vehicles (AVs) increasingly use LiDAR-based object detection systems to perceive other vehicles and pedestrians on the road. While existing attacks on LiDAR-based autonomous driving architectures focus on lowering the confidence…

This paper studies 3D LiDAR mapping with a focus on developing an updatable and localizable map representation that enables continuity, compactness and consistency in 3D maps. Traditional LiDAR Simultaneous Localization and Mapping (SLAM)…

SLAM plays a crucial role in automation tasks, such as warehouse logistics, healthcare robotics, and restaurant delivery. These scenes come with various challenges, including navigating around crowds of people, dealing with flying plastic…

We present Wildcat, a novel online 3D lidar-inertial SLAM system with exceptional versatility and robustness. At its core, Wildcat combines a robust real-time lidar-inertial odometry module, utilising a continuous-time trajectory…