相关论文: Robustifying 3D Perception via Least-Squares Graph…

Object detectors have demonstrated vulnerability to adversarial examples crafted by small perturbations that can deceive the object detector. Existing adversarial attacks mainly focus on white-box attacks and are merely valid at a specific…

The implementation of Autonomous Driving (AD) technologies within urban environments presents significant challenges. These challenges necessitate the development of advanced perception systems and motion planning algorithms capable of…

While 2D object detection has improved significantly over the past, real world applications of computer vision often require an understanding of the 3D layout of a scene. Many recent approaches to 3D detection use LiDAR point clouds for…

Camera-only 3D object detection is critical for autonomous driving, offering a cost-effective alternative to LiDAR based methods. In particular, multi-view 3D object detection has emerged as a promising direction due to its balanced…

Autonomous vehicles are typical complex intelligent systems with artificial intelligence at their core. However, perception methods based on deep learning are extremely vulnerable to adversarial samples, resulting in security accidents. How…

This paper describes an optimized single-stage deep convolutional neural network to detect objects in urban environments, using nothing more than point cloud data. This feature enables our method to work regardless the time of the day and…

Deep neural networks (DNNs) are increasingly integrated into LiDAR (Light Detection and Ranging)-based perception systems for autonomous vehicles (AVs), requiring robust performance under adversarial conditions. We aim to address the…

Recent years have witnessed significant advancements in deep learning-based 3D object detection, leading to its widespread adoption in numerous applications. As 3D object detectors become increasingly crucial for security-critical tasks, it…

In Autonomous Driving (AD), real-time perception is a critical component responsible for detecting surrounding objects to ensure safe driving. While researchers have extensively explored the integrity of AD perception due to its safety and…

Autonomous Vehicles (AVs) are mostly reliant on LiDAR sensors which enable spatial perception of their surroundings and help make driving decisions. Recent works demonstrated attacks that aim to hide objects from AV perception, which can…

Neural networks build the foundation of several intelligent systems, which, however, are known to be easily fooled by adversarial examples. Recent advances made these attacks possible even in air-gapped scenarios, where the autonomous…

Most real-world 3D sensors such as LiDARs perform fixed scans of the entire environment, while being decoupled from the recognition system that processes the sensor data. In this work, we propose a method for 3D object recognition using…

The increasing adoption of human-robot interaction presents opportunities for technology to positively impact lives, particularly those with visual impairments, through applications such as guide-dog-like assistive robotics. We present a…

The significant advancements in embodied vision navigation have raised concerns about its susceptibility to adversarial attacks exploiting deep neural networks. Investigating the adversarial robustness of embodied vision navigation is…

We hypothesize that an agent that can look around in static scenes can learn rich visual representations applicable to 3D object tracking in complex dynamic scenes. We are motivated in this pursuit by the fact that the physical world itself…

The unsupervised 3D object detection is to accurately detect objects in unstructured environments with no explicit supervisory signals. This task, given sparse LiDAR point clouds, often results in compromised performance for detecting…

Multi-object tracking (MOT) has important applications in monitoring, logistics, and other fields. This paper develops a real-time multi-object tracking and prediction system in rugged environments. A 3D object detection algorithm based on…

Camera localization in 3D LiDAR maps has gained increasing attention due to its promising ability to handle complex scenarios, surpassing the limitations of visual-only localization methods. However, existing methods mostly focus on…

Blind spots or outright deceit can bedevil and deceive machine learning models. Unidentified objects such as digital "stickers," also known as adversarial patches, can fool facial recognition systems, surveillance systems and self-driving…

In this work, we propose an efficient and accurate monocular 3D detection framework in single shot. Most successful 3D detectors take the projection constraint from the 3D bounding box to the 2D box as an important component. Four edges of…