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Paper Abstract and Keywords
Presentation 2020-07-21 10:50
Adversarial scan attack against ICP algorithm for pose estimation on LiDAR-based SLAM
Kota Yoshida, Takeshi Fujino (Ritsumeikan Univ.) ISEC2020-26 SITE2020-23 BioX2020-29 HWS2020-19 ICSS2020-13 EMM2020-23
Abstract (in Japanese) (See Japanese page) 
(in English) An autonomous robot is controlled on physical information acquired by various sensors. Some physical attacks are proposed on these sensors for tampering the observed value and these attacks are a threat to autonomous robots. Recently, sensor spoofing attacks with considering control algorithm become large threats. In this paper, we propose a new attack against the LiDAR-based SLAM algorithm. The attack tampers generated map and pose graph by adversarial LiDAR scan. The adversary calculates a falsification amount for deceiving iterative closest point (ICP) algorithm which is used for pose estimation, and physically injects spoofed distance against LiDAR. The falsification amount is calculated by gradient descent against a cost function from the ICP algorithm. The SLAM algorithm generates the map from the wrong movement path estimated by the ICP algorithm. The result of our experiment shows that the adversary can tamper the map by minimal physical spoofing attack.
Keyword (in Japanese) (See Japanese page) 
(in English) SLAM / Adversarial examples / Instrumentation Security / LiDAR / / / /  
Reference Info. IEICE Tech. Rep., vol. 120, no. 115, HWS2020-19, pp. 81-86, July 2020.
Paper # HWS2020-19 
Date of Issue 2020-07-13 (ISEC, SITE, BioX, HWS, ICSS, EMM) 
ISSN Online edition: ISSN 2432-6380
Copyright
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reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF ISEC2020-26 SITE2020-23 BioX2020-29 HWS2020-19 ICSS2020-13 EMM2020-23

Conference Information
Committee SITE ISEC HWS EMM BioX IPSJ-CSEC IPSJ-SPT ICSS 
Conference Date 2020-07-20 - 2020-07-21 
Place (in Japanese) (See Japanese page) 
Place (in English) Online 
Topics (in Japanese) (See Japanese page) 
Topics (in English) Security, etc. 
Paper Information
Registration To HWS 
Conference Code 2020-07-SITE-ISEC-HWS-EMM-BioX-CSEC-SPT-ICSS 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Adversarial scan attack against ICP algorithm for pose estimation on LiDAR-based SLAM 
Sub Title (in English)  
Keyword(1) SLAM  
Keyword(2) Adversarial examples  
Keyword(3) Instrumentation Security  
Keyword(4) LiDAR  
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1st Author's Name Kota Yoshida  
1st Author's Affiliation Ritsumeikan University (Ritsumeikan Univ.)
2nd Author's Name Takeshi Fujino  
2nd Author's Affiliation Ritsumeikan University (Ritsumeikan Univ.)
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Speaker Author-1 
Date Time 2020-07-21 10:50:00 
Presentation Time 25 minutes 
Registration for HWS 
Paper # ISEC2020-26, SITE2020-23, BioX2020-29, HWS2020-19, ICSS2020-13, EMM2020-23 
Volume (vol) vol.120 
Number (no) no.112(ISEC), no.113(SITE), no.114(BioX), no.115(HWS), no.116(ICSS), no.117(EMM) 
Page pp.81-86 
#Pages 6 
Date of Issue 2020-07-13 (ISEC, SITE, BioX, HWS, ICSS, EMM) 

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