Local aggressive and physically realizable adversarial attacks on 3D point cloud

Recent studies have shown that deep learning models such as image classification and object detection models are vulnerable to attacks from adversarial examples. These malicious examples may trigger potential security threats and cause damage in security-related fields. In this paper, in order to find model robustness weakness, we obtain the adversarial robustness metric against several adversarial attacks, including gradient-based attacks, optimization-based attacks, etc. The metric quantizes the adversarial robustness of deep learning models and can be used as a guide for extra model training. Meanwhile, we design a testing platform to achieve model adversarial robustness evaluation. Utilizing the front and back end separation strategy, the testing platform consist of 2 modules: one is multiple adversarial example attacks executor and the other is HCI module. In addition, the tool allows parallel comparison among different adversarial attack algorithms under given conditions and measures the quality of generated adversarial examples utilizing FID(Fréchet Inception Distance) metrics. Besides, we developed ERFGSM(edge-RFGSM), a new gradient-based attack using edge information through canny operator.

Surface defect identification is a crucial task in many manufacturing systems, including automotive, aircraft, steel rolling, and precast concrete. Although image-based surface defect identification methods have been proposed, these methods usually have two limitations: images may lose partial information, such as depths of surface defects, and their precision is vulnerable to many factors, such as the inspection angle, light, color, noise, etc. Given that a three-dimensional (3D) point cloud can precisely represent the multidimensional structure of surface defects, we aim to detect and classify surface defects using a 3D point cloud. This has two major challenges: (i) the defects are often sparsely distributed over the surface, which makes their features prone to be hidden by the normal surface and (ii) different permutations and transformations of 3D point cloud may represent the same surface, so the proposed model needs to be permutation and transformation invariant. In this paper, a two-step surface defect identification approach is developed to investigate the defects’ patterns in 3D point cloud data. The proposed approach consists of an unsupervised method for defect detection and a multi-view deep learning model for defect classification, which can keep track of the features from both defective and non-defective regions. We prove that the proposed approach is invariant to different permutations and transformations. Two case studies are conducted for defect identification on the surfaces of synthetic aircraft fuselage and the real precast concrete specimen, respectively. The results show that our approach receives the best defect detection and classification accuracy compared with other benchmark methods.

Automatic diagnosis based on clinical notes has become a popular research field recently, and many proposed deep learning models have achieved competitive performance in diseases inference. However, previous research reveals that deep learning models are susceptible to negligibly perturbed inputs named adversarial examples, which contradicts with the safety and reliability requirements of the medical domain. To analyze the vulnerability and robustness of current automatic diagnosis models, we investigate in the generation of adversarial text examples. The main challenges for generating adversarial text examples are divided into three parts. First, the word embedding space is discrete, which makes it hard to perturb as small as adversarial image examples generation. Second, previous adversarial example generation methods focus mainly on multi-class classification models, while automatic diagnosis is a multi-label classification task. Third, the semantic and medical meaning of clinical notes are vital in disease inference, and even small perturbations can change them to a large extent. In this paper, we address the three main challenges and propose Clinical-Attacker, a general framework for both white-box and black-box adversarial text examples generation against automatic diagnosis models. Experimental results on MIMIC-III dataset demonstrate that our framework can easily alter the predictions of automatic diagnosis models with the semantic and medical meaning preserved.

Deep learning models have shown their great capability for the hyperspectral image (HSI) classification task in recent years. Nevertheless, their vulnerability towards adversarial attacks could not be neglected. In this study, we systematically analyze the influence of adversarial attacks on the HSI classification task for the first time. While existing research of adversarial attacks focuses on the generation of adversarial examples in the RGB domain, the experiments in this study show such adversarial examples could also exist in the hyperspectral domain. Although the difference between the generated adversarial image and the original hyperspectral data is imperceptible to the human visual system, most of the existing state-of-the-art deep learning models could be fooled by the adversarial image to make wrong predictions. To address this challenge, a novel self-attention context network (SACNet) is further proposed. We discover that the global context information contained in HSI can significantly improve the robustness of deep neural networks when confronted with adversarial attacks. Extensive experiments on three benchmark HSI datasets demonstrate that the proposed SACNet possesses stronger resistibility towards adversarial examples compared with the existing state-of-the-art deep learning models.

Building Information Modeling (BIM) has gained wider acceptance in the Architecture/Engineering/Construction (A/E/C) industries in the U.S. and internationally. Capability of BIM technologies in early detection of spatial conflicts among various building systems and components concurrently designed by different design team members prior to construction has great potential in reducing construction delays, loss of productivity, and overall construction costs. Recent advancements in 3D point cloud technologies, such as 3D laser scanning, can greatly augment BIM technology applications in the A/E/C industry by providing a rapid three-dimensional capture of the built environment in great detail and accuracy. This paper discusses the current approaches of implementing 3D point cloud data in BIM and virtual design and construction (VDC) applications during various stages of a project lifecycle and the challenges associated with processing the huge amount of 3D point cloud data. Conversion from discrete 3D point cloud raster data to geometric/vector BIM data remains to be a labor-intensive process. The needs for intelligent geometric feature detection/reconstruction algorithms for automated point cloud processing and issues related to data management will be discussed. This paper also presents some innovative approaches for integrating 3D point cloud data with BIM to efficiently augment built environment design, construction, and management.

In this paper, a novel black box adversarial computer vision attack is proposed. The introduced attack is based on removing from images some components described by their Tchebichef discrete orthogonal moments, rather than to perturb them. The contribution of this work is focused on the addition of one more clue, supporting the critical hypothesis that computer vision systems fail because they support their decisions not only in robust features but also in others non-robust ones. In this, context non-robust image features described in terms of Tchebichef moments are excluded from the original images and the approximated reconstructed versions of them are used as adversarial examples in order to attack some popular deep learning models. The experiments justify the effectiveness of the proposed adversarial attack in terms of imperceptibility and recognition error rate of the deep learning classifiers. It is worth noting that the top-1 accuracy of the attacked models was degraded by a factor between 9.48%-70.89% for adversarial images of 65dB to 57dB PSNR values. The corresponding degradation of the top-5 models’ accuracy was between 6.9% and 55.14% for the same quality images. Moreover, the proposed attack seems to have more strength than the Fast Gradient Sign Method (FGSM) attacking method traditionally applying in most cases. These results reveal that the proposed attack is able to exploit the vulnerability of the deep learning models’ towards degrading their generalization abilities. In this paper, a novel black box adversarial computer vision attack is proposed. The introduced attack is based on removing from images some components described by their Tchebichef discrete orthogonal moments, rather than to perturb them. The contribution of this work is focused on the addition of one more clue, supporting the critical hypothesis that computer vision systems fail because they support their decisions not only in robust features but also in others non-robust ones. In this, context non-robust image features described in terms of Tchebichef moments are excluded from the original images and the approximated reconstructed versions of them are used as adversarial examples in order to attack some popular deep learning models. The experiments justify the effectiveness of the proposed adversarial attack in terms of imperceptibility and recognition error rate of the deep learning classifiers. It is worth noting that the top-1 accuracy of the attacked models was degraded by a factor between 9.48%-70.89% for adversarial images of 65dB to 57dB PSNR values. The corresponding degradation of the top-5 models’ accuracy was between 6.9% and 55.14% for the same quality images. Moreover, the proposed attack seems to have more strength than the Fast Gradient Sign Method (FGSM) attacking method traditionally applying in most cases. These results reveal that the proposed attack is able to exploit the vulnerability of the deep learning models’ towards degrading their generalization abilities.

In recent years, due to the significant advancements in hardware sensors and software technologies, 3D environmental point cloud modeling has gradually been applied in the automation industry, autonomous vehicles, and construction engineering. With the high-precision measurements of 3D LiDAR, its point clouds can clearly reflect the geometric structure and features of the environment, thus enabling the creation of high-density 3D environmental point cloud models. However, due to the enormous quantity of high-density 3D point clouds, storing and processing these 3D data requires a considerable amount of memory and computing time. In light of this, this paper proposes a real-time 3D point cloud environmental contour modeling technique. The study uses the point cloud distribution from the 3D LiDAR body frame point cloud to establish structured edge features, thereby creating a 3D environmental contour point cloud map. Additionally, unstable objects such as vehicles will appear during the mapping process; these specific objects will be regarded as not part of the stable environmental model in this study. To address this issue, the study will further remove these objects from the 3D point cloud through image recognition and LiDAR heterogeneous matching, resulting in a higher quality 3D environmental contour point cloud map. This 3D environmental contour point cloud not only retains the recognizability of the environmental structure but also solves the problems of massive data storage and processing. Moreover, the method proposed in this study can achieve real-time realization without requiring the 3D point cloud to be organized in a structured order, making it applicable to unorganized 3D point cloud LiDAR sensors. Finally, the feasibility of the proposed method in practical applications is also verified through actual experimental data.

3D point cloud data captured from Oil and Gas (O&G) facilities are becoming increasingly abundant. This data supports the interactive visualization of complex plants, which is central to numerous industrial advancements. As industries seek to innovate and optimize their processes, the versatile use of 3D point cloud data is proving invaluable beyond traditional O&G applications. The precision and comprehensiveness of 3D point cloud data facilitate efficient design, construction, maintenance and operational monitoring across various industrial sectors. Digital Twin (DT) solutions enable this by maintaining 3D representations, such as 3D CAD models, that accurately reflect the current state of facilities. As installations change, the process of 3D scanning is often repeated to capture the latest updates. Engineers and designers then use modelling software to visualize the resulting point cloud and update the facility's 3D representation, incorporating any new modifications. However, this involves interpreting the visual point cloud data and structuring it into meaningful objects (such as valves, tanks, etc.), a process that remains manual, requiring labor-intensive tasks that are prone to errors and incur significant costs due to the need for specialized labor. We propose an Artificial Intelligence approach, that uses a deep learning-based algorithm to automatically segment 3D objects within a point cloud. Our workflow recognizes instances of usual components of production systems, such as control valves, pipes, and transmitters. A state-of-the-art 3D instance segmentation approach is adapted to the O&G domain. Given the lack of publicly available instance segmentation datasets in this domain, we manually annotate 54 scenes from an O&G offshore plant, each of them around 20 m2 in footprint. To further enhance model training, we also incorporated synthetic point clouds. Practical results on real point clouds, acquired from operational facilities and pre-processed as required by commercial DT solutions, indicated a performance of approximately 70% success (f1-score) in segmenting components of O&G production systems, reaching up to 85% for components such as control valves. Accordingly, a 52.4% reduction in costs and efforts associated with manually interpreting 3D point clouds is estimated. Point cloud instance segmentation has attracted much attention in the computer vision research community, and many approaches have been proposed. However, results in the literature are heavily biased toward a few benchmarking datasets, which were acquired in indoor environments like offices and rooms. Few studies have addressed the O&G domain, creating a gap in the literature for achieving more competitive results. This lack of comprehensive research limits the potential for innovation and optimization in the industry. This paper contributes by (i) assessing the performance of state-of-the-art algorithms in the domain of O&G facilities, (ii) proposing modifications to better generalize to components of O&G production systems, (iii) objectively measuring the impact of this algorithm in reducing manual effort for engineers, and (iv) advancing towards a new DT functionality that derives an asset 3D representation, that is faithful to physical reality, through the automatic interpretation of point cloud scans.

Deep neural networks have made tremendous progress in 3D object detection, which is an important task especially in autonomous driving scenarios. Benefited from the breakthroughs in deep learning and sensor technologies, 3D object detection methods based on different sensors, such as camera and LiDAR, have developed rapidly. Meanwhile, more and more researches notice that the abundant information contained in the multi-view data can be used to obtain more accurate understanding of the 3D surrounding environment. Therefore, many sensor-fusion 3D object detection methods have been proposed. As safety is critical in autonomous driving and the deep neural networks are known to be vulnerable to adversarial examples with visually imperceptible perturbations, it is significant to investigate adversarial attacks for 3D object detection. Recent works have shown that both image-based and LiDAR-based networks can be attacked by the adversarial examples while the attacks to the sensor-fusion models, which tend to be more robust, haven't been studied. To this end, we propose a simple multi-view correlation based adversarial attack method for the camera-LiDAR fusion 3D object detection models and focus on the black-box attack setting which is more practical in real-world systems. Specifically, we first design a generative network to generate image adversarial examples based on an auxiliary image semantic segmentation network. Then, we develop a cross-view perturbation projection method by exploiting the camera-LiDAR correlations to map each image adversarial example to the space of the point cloud data to form the point cloud adversarial examples in the LiDAR view. Extensive experiments on the KITTI dataset demonstrate the effectiveness of the proposed method.

Recent years, Machine Learning has been widely used in malware analysis and achieved unprecedented success. However, deep learning models are found to be highly vulnerable to adversarial examples, which leads to the machine learning-based malware analysis methods vulnerable to malware makers. Exploring the attack algorithm can not only promote the generation of more effective malware analysis methods, but also can promote the development of the defense algorithm. Different machine learning models use different malware features as their classification basis, and accordingly there will be different attack methods against them. For malware visualization method, corresponding effective adversarial attack has not yet appeared. Most existing malware adversarial examples for malware visualization are generated at the feature level, and do not consider whether the generated adversarial examples can be executed and complete their original functions. In this paper, we explored how to modify an Android executable file without affecting its original functions and made it become an adversarial example. We proposed an executable adversarial examples attack strategy for machine learning-based malware visualization analysis. Experimental result shows that the executable adversarial examples we generated can be normally run on Android devices without affecting its original functions, and can confuse the malware family classifier with 93% success rate. We explored possible defense methods and hope to contribute to building a more robust malware classification method.

3D adversarial attacks beyond point cloud

Converting three-dimensional (3D) point cloud data to two-dimensional (2D) image based on virtual structured-light system is a popular method in 3D data compression because the image format is easier to process by the exiting storing and transmitting methods. When this method is used in the 3D point cloud compression, the quantization error is introduced during the coordinate mapping. To solve this problem, a virtual structured-light 3D point cloud compression algorithm based on geometric reshaping is presented. And a least-square system parameter optimization method is proposed to further improve the data decoding accuracy. In the proposed method, the 3D spatial coordinates are reshaped to a 2D matrix first, and then the 2D matrix is stored as a “Holoimage” by using the parameter optimized virtual structured-light system. The quantization error introduced by coordinate mapping between X and Y coordinates of the 3D point cloud and the 2D image pixel coordinates is suppressed, so the decoding accuracy is improved. In addition, the geometric information of the 3D point cloud is hidden synchronously when the 3D point cloud is compressed, which is of great significance in the copyright protection of the point cloud data. Experiments verify the effectiveness of the proposed algorithm. The decoding root mean square error (RMSE) of the proposed method is decreased by 79.86% on average compared with the traditional one under the same compression ratio, and the compression ratio of the proposed method is 1.96 times bigger than the traditional one under the similar decoding accuracy.

The objective of this work is to develop and apply a spectral graph theoretic approach for differentiating between (classifying) additive manufactured (AM) parts contingent on the severity of their dimensional variation from laser-scanned coordinate measurements (3D point cloud). The novelty of the approach is in invoking spectral graph Laplacian eigenvalues as an extracted feature from the laser-scanned 3D point cloud data in conjunction with various machine learning techniques. The outcome is a new method that classifies the dimensional variation of an AM part by sampling less than 5% of the 2 million 3D point cloud data acquired (per part). This is a practically important result, because it reduces the measurement burden for postprocess quality assurance in AM—parts can be laser-scanned and their dimensional variation quickly assessed on the shop floor. To realize the research objective, the procedure is as follows. Test parts are made using the fused filament fabrication (FFF) polymer AM process. The FFF process conditions are varied per a phased design of experiments plan to produce parts with distinctive dimensional variations. Subsequently, each test part is laser scanned and 3D point cloud data are acquired. To classify the dimensional variation among parts, Laplacian eigenvalues are extracted from the 3D point cloud data and used as features within different machine learning approaches. Six machine learning approaches are juxtaposed: sparse representation, k-nearest neighbors, neural network, naïve Bayes, support vector machine, and decision tree. Of these, the sparse representation technique provides the highest classification accuracy (F-score > 97%).

Some recent articles have revealed that synthetic aperture radar automatic target recognition (SAR-ATR) models based on deep learning are vulnerable to the attacks of adversarial examples and cause security problems. The adversarial attack can make a deep convolutional neural network (CNN)-based SAR-ATR system output the intended wrong label predictions by adding small adversarial perturbations to the SAR images. The existing optimization-based adversarial attack methods generate adversarial examples by minimizing the mean-squared reconstruction error, causing smooth target edge and blurry weak scattering centers in SAR images. In this paper, we build a UNet-generative adversarial network (GAN) to refine the generation of the SAR-ATR models’ adversarial examples. The UNet learns the separable features of the targets and generates the adversarial examples of SAR images. The GAN makes the generated adversarial examples approximate to real SAR images (with sharp target edge and explicit weak scattering centers) and improves the generation efficiency. We carry out abundant experiments using the proposed adversarial attack algorithm to fool the SAR-ATR models based on several advanced CNNs, which are trained on the measured SAR images of the ground vehicle targets. The quantitative and qualitative results demonstrate the high-quality adversarial example generation and excellent attack effectiveness and efficiency improvement.

Development of vehicle- recognition method on water surfaces using LiDAR data: SPD2 (spherically stratified point projection with diameter and distance)