arXivDaily arXiv每日学术速递 周一至周五更新
arXiv周末暂无论文更新,休息一下吧,周末愉快~~
arXiv 2504.01659cs.CV

源域对抗攻击下3D点云分割的鲁棒无监督域自适应

Robust Unsupervised Domain Adaptation for 3D Point Cloud Segmentation Under Source Adversarial Attacks

Southern University of Science and Technology(南方科技大学);National University of Singapore(新加坡国立大学)

Haosheng Li, Junjie Chen, Yuecong Xu, Kemi Ding

AI总结:

针对源域对抗攻击下3D点云分割无监督域自适应鲁棒性不足的问题,设计隐蔽对抗攻击生成AdvSynLiDAR数据集,提出AAF框架,通过扩展RLT损失和解码器分支提升模型鲁棒性,缓解性能下降。

摘要:

无监督域自适应(UDA)框架在干净数据上对3D点云语义分割模型展现出良好的泛化能力,但现有研究忽视了源域本身受损时的对抗鲁棒性。为全面探究UDA框架的鲁棒性,我们首先设计了一种隐蔽的对抗点云生成攻击,仅需对云表面进行微小扰动即可显著污染数据集。基于此,我们提出新数据集AdvSynLiDAR,包含合成的受污染LiDAR点云。利用生成的受损数据,我们进一步开发对抗自适应框架(AAF)作为对策:具体而言,通过将关键点敏感(KPS)损失扩展为鲁棒长尾损失(RLT损失),并使用解码器分支,我们的方法使模型在预训练阶段聚焦长尾类,在自适应阶段利用高置信度解码点云信息恢复点云结构。我们在AdvSynLiDAR数据集上评估AAF方法,结果表明该方法可缓解3D点云分割UDA任务中源域对抗扰动导致的性能下降。

英文摘要:

Unsupervised domain adaptation (UDA) frameworks have shown good generalization capabilities for 3D point cloud semantic segmentation models on clean data. However, existing works overlook adversarial robustness when the source domain itself is compromised. To comprehensively explore the robustness of the UDA frameworks, we first design a stealthy adversarial point cloud generation attack that can significantly contaminate datasets with only minor perturbations to the point cloud surface. Based on that, we propose a novel dataset, AdvSynLiDAR, comprising synthesized contaminated LiDAR point clouds. With the generated corrupted data, we further develop the Adversarial Adaptation Framework (AAF) as the countermeasure. Specifically, by extending the key point sensitive (KPS) loss towards the Robust Long-Tail loss (RLT loss) and utilizing a decoder branch, our approach enables the model to focus on long-tail classes during the pre-training phase and leverages high-confidence decoded point cloud information to restore point cloud structures during the adaptation phase. We evaluated our AAF method on the AdvSynLiDAR dataset, where the results demonstrate that our AAF method can mitigate performance degradation under source adversarial perturbations for UDA in the 3D point cloud segmentation application.

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。

↑