3,102 research outputs found
Active SLAM for autonomous underwater exploration
Exploration of a complex underwater environment without an a priori map is beyond the state of the art for autonomous underwater vehicles (AUVs). Despite several efforts regarding simultaneous localization and mapping (SLAM) and view planning, there is no exploration framework, tailored to underwater vehicles, that faces exploration combining mapping, active localization, and view planning in a unified way. We propose an exploration framework, based on an active SLAM strategy, that combines three main elements: a view planner, an iterative closest point algorithm (ICP)-based pose-graph SLAM algorithm, and an action selection mechanism that makes use of the joint map and state entropy reduction. To demonstrate the benefits of the active SLAM strategy, several tests were conducted with the Girona 500 AUV, both in simulation and in the real world. The article shows how the proposed framework makes it possible to plan exploratory trajectories that keep the vehicle’s uncertainty bounded; thus, creating more consistent maps.Peer ReviewedPostprint (published version
MeshAdv: Adversarial Meshes for Visual Recognition
Highly expressive models such as deep neural networks (DNNs) have been widely
applied to various applications. However, recent studies show that DNNs are
vulnerable to adversarial examples, which are carefully crafted inputs aiming
to mislead the predictions. Currently, the majority of these studies have
focused on perturbation added to image pixels, while such manipulation is not
physically realistic. Some works have tried to overcome this limitation by
attaching printable 2D patches or painting patterns onto surfaces, but can be
potentially defended because 3D shape features are intact. In this paper, we
propose meshAdv to generate "adversarial 3D meshes" from objects that have rich
shape features but minimal textural variation. To manipulate the shape or
texture of the objects, we make use of a differentiable renderer to compute
accurate shading on the shape and propagate the gradient. Extensive experiments
show that the generated 3D meshes are effective in attacking both classifiers
and object detectors. We evaluate the attack under different viewpoints. In
addition, we design a pipeline to perform black-box attack on a photorealistic
renderer with unknown rendering parameters.Comment: Published in IEEE CVPR201
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