arXivDaily arXiv每日学术速递 周一至周五更新
arXiv 2202.07261cs.CVeess.IV
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3D点云攻击的图谱域魔鬼探索

Exploring the Devil in Graph Spectral Domain for 3D Point Cloud Attacks

Wangxuan Institute of Computer Technology, Peking University(北京大学王选计算机研究所)

Qianjiang Hu, Daizong Liu, Wei Hu

摘要:

随着深度传感器的成熟,点云在自动驾驶、机器人、监控等各种应用中受到越来越多的关注,而深度点云学习模型已经显示出易受对抗攻击的攻击。现有的攻击方法通常通过在点云上增删点或逐点扰动来生成数据空间中的对抗样本,这可能会忽略点云的几何特征。相反,我们从一个新的角度提出了点云攻击-图谱域攻击(GSDA),旨在扰动变换系数在图谱域对应于改变一定的几何结构。特别是,我们自然地表示一个点云在一个图,并自适应地将点的坐标变换到图形频谱域通过图形傅立叶变换(GFT)紧凑的表示。然后,我们分析了不同的光谱波段上的点云的几何结构的影响,在此基础上,我们提出了扰动的GFT系数的能量约束损失函数引导下的可学习的方式。最后,通过逆GFT(IGFT)将扰动的谱表示转换回数据域来生成对抗点云。实验结果表明,所提出的GSDA在不可感知性和攻击成功率在各种防御策略下的有效性。该代码可在https://github.com/WoodwindHu/GSDA上获得。

英文摘要:

With the maturity of depth sensors, point clouds have received increasing attention in various applications such as autonomous driving, robotics, surveillance, etc., while deep point cloud learning models have shown to be vulnerable to adversarial attacks. Existing attack methods generally add/delete points or perform point-wise perturbation over point clouds to generate adversarial examples in the data space, which may neglect the geometric characteristics of point clouds. Instead, we propose point cloud attacks from a new perspective -- Graph Spectral Domain Attack (GSDA), aiming to perturb transform coefficients in the graph spectral domain that corresponds to varying certain geometric structure. In particular, we naturally represent a point cloud over a graph, and adaptively transform the coordinates of points into the graph spectral domain via graph Fourier transform (GFT) for compact representation. We then analyze the influence of different spectral bands on the geometric structure of the point cloud, based on which we propose to perturb the GFT coefficients in a learnable manner guided by an energy constraint loss function. Finally, the adversarial point cloud is generated by transforming the perturbed spectral representation back to the data domain via the inverse GFT (IGFT). Experimental results demonstrate the effectiveness of the proposed GSDA in terms of both imperceptibility and attack success rates under a variety of defense strategies. The code is available at https://github.com/WoodwindHu/GSDA.

机构、总结、中文摘要均由AI分析而来,可能存在错误,请以论文正文为准。

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