{"id":"https://openalex.org/W4210960145","doi":"https://doi.org/10.1109/lra.2022.3150031","title":"Perceptual Aliasing++: Adversarial Attack for Visual SLAM Front-End and Back-End","display_name":"Perceptual Aliasing++: Adversarial Attack for Visual SLAM Front-End and Back-End","publication_year":2022,"publication_date":"2022-02-10","ids":{"openalex":"https://openalex.org/W4210960145","doi":"https://doi.org/10.1109/lra.2022.3150031"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3150031","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3150031","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5091911760","display_name":"Muhammad Ikram","orcid":"https://orcid.org/0000-0001-6559-9067"},"institutions":[{"id":"https://openalex.org/I929597975","display_name":"National University of Sciences and Technology","ror":"https://ror.org/03w2j5y17","country_code":"PK","type":"education","lineage":["https://openalex.org/I929597975"]}],"countries":["PK"],"is_corresponding":true,"raw_author_name":"Muhammad Haris Ikram","raw_affiliation_strings":["School of Electrical Engineering and Computer Science, National University of Sciences and Technology (NUST), Islamabad, Pakistan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computer Science, National University of Sciences and Technology (NUST), Islamabad, Pakistan","institution_ids":["https://openalex.org/I929597975"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066108547","display_name":"Saran Khaliq","orcid":null},"institutions":[{"id":"https://openalex.org/I929597975","display_name":"National University of Sciences and Technology","ror":"https://ror.org/03w2j5y17","country_code":"PK","type":"education","lineage":["https://openalex.org/I929597975"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Saran Khaliq","raw_affiliation_strings":["School of Electrical Engineering and Computer Science, National University of Sciences and Technology (NUST), Islamabad, Pakistan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computer Science, National University of Sciences and Technology (NUST), Islamabad, Pakistan","institution_ids":["https://openalex.org/I929597975"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065537287","display_name":"Muhammad Latif Anjum","orcid":"https://orcid.org/0000-0002-3525-1956"},"institutions":[{"id":"https://openalex.org/I929597975","display_name":"National University of Sciences and Technology","ror":"https://ror.org/03w2j5y17","country_code":"PK","type":"education","lineage":["https://openalex.org/I929597975"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Muhammad Latif Anjum","raw_affiliation_strings":["School of Electrical Engineering and Computer Science, National University of Sciences and Technology (NUST), Islamabad, Pakistan"],"raw_orcid":"https://orcid.org/0000-0002-3525-1956","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computer Science, National University of Sciences and Technology (NUST), Islamabad, Pakistan","institution_ids":["https://openalex.org/I929597975"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076559678","display_name":"Wajahat Hussain","orcid":"https://orcid.org/0000-0002-2899-7493"},"institutions":[{"id":"https://openalex.org/I929597975","display_name":"National University of Sciences and Technology","ror":"https://ror.org/03w2j5y17","country_code":"PK","type":"education","lineage":["https://openalex.org/I929597975"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Wajahat Hussain","raw_affiliation_strings":["School of Electrical Engineering and Computer Science, National University of Sciences and Technology (NUST), Islamabad, Pakistan"],"raw_orcid":"https://orcid.org/0000-0002-2899-7493","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computer Science, National University of Sciences and Technology (NUST), Islamabad, Pakistan","institution_ids":["https://openalex.org/I929597975"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5091911760"],"corresponding_institution_ids":["https://openalex.org/I929597975"],"apc_list":null,"apc_paid":null,"fwci":2.4955,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.90434809,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"7","issue":"2","first_page":"4670","last_page":"4677"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9973999857902527,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/aliasing","display_name":"Aliasing","score":0.7648391723632812},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6920303106307983},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6644293069839478},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6521109342575073},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6138843894004822},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.5020966529846191},{"id":"https://openalex.org/keywords/adversarial-system","display_name":"Adversarial system","score":0.4845406115055084},{"id":"https://openalex.org/keywords/false-positive-paradox","display_name":"False positive paradox","score":0.447932630777359},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.44636085629463196},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.42560499906539917},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1601787805557251},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1198820173740387},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.07947829365730286}],"concepts":[{"id":"https://openalex.org/C4069607","wikidata":"https://www.wikidata.org/wiki/Q868732","display_name":"Aliasing","level":3,"score":0.7648391723632812},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6920303106307983},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6644293069839478},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6521109342575073},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6138843894004822},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.5020966529846191},{"id":"https://openalex.org/C37736160","wikidata":"https://www.wikidata.org/wiki/Q1801315","display_name":"Adversarial system","level":2,"score":0.4845406115055084},{"id":"https://openalex.org/C64869954","wikidata":"https://www.wikidata.org/wiki/Q1859747","display_name":"False positive paradox","level":2,"score":0.447932630777359},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.44636085629463196},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.42560499906539917},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1601787805557251},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1198820173740387},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.07947829365730286},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C136536468","wikidata":"https://www.wikidata.org/wiki/Q1225894","display_name":"Undersampling","level":2,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3150031","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3150031","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W1162411702","https://openalex.org/W1536617987","https://openalex.org/W1612997784","https://openalex.org/W1673923490","https://openalex.org/W1765141538","https://openalex.org/W1959692127","https://openalex.org/W1980867644","https://openalex.org/W1989484209","https://openalex.org/W1994292819","https://openalex.org/W1999399477","https://openalex.org/W2006548260","https://openalex.org/W2009095456","https://openalex.org/W2011767579","https://openalex.org/W2021851106","https://openalex.org/W2079112914","https://openalex.org/W2080823437","https://openalex.org/W2107905629","https://openalex.org/W2110405746","https://openalex.org/W2144824356","https://openalex.org/W2150066425","https://openalex.org/W2153054365","https://openalex.org/W2158804777","https://openalex.org/W2201211857","https://openalex.org/W2207423472","https://openalex.org/W2290577462","https://openalex.org/W2535873859","https://openalex.org/W2576320326","https://openalex.org/W2585355162","https://openalex.org/W2737094507","https://openalex.org/W2789510920","https://openalex.org/W2798302089","https://openalex.org/W2890419535","https://openalex.org/W2898306786","https://openalex.org/W2900770941","https://openalex.org/W2963542245","https://openalex.org/W2963748588","https://openalex.org/W2963873956","https://openalex.org/W2964156323","https://openalex.org/W2973258311","https://openalex.org/W3034856584","https://openalex.org/W3094984771","https://openalex.org/W3104290757","https://openalex.org/W3133395594","https://openalex.org/W6636863008","https://openalex.org/W6637162671","https://openalex.org/W6741036071","https://openalex.org/W6750404860","https://openalex.org/W6751839145","https://openalex.org/W6753527932","https://openalex.org/W6754438973","https://openalex.org/W6777386808"],"related_works":["https://openalex.org/W2502115930","https://openalex.org/W4246396837","https://openalex.org/W2482350142","https://openalex.org/W3176240006","https://openalex.org/W3126451824","https://openalex.org/W1561927205","https://openalex.org/W3191453585","https://openalex.org/W4297672492","https://openalex.org/W4288019534","https://openalex.org/W4310988119"],"abstract_inverted_index":{"Similar":[0],"appearing":[1],"places":[2],"are":[3,123],"known":[4],"to":[5,65,148,199],"confuse":[6],"place":[7],"recognition":[8],"methods":[9,16],"(a.k.a":[10],"perceptual":[11,25,37],"aliasing).":[12],"Robust":[13],"visual":[14,32,46,236],"SLAM":[15,33,47,140,214,237],"have":[17,144],"shown":[18,145],"impressive":[19],"resilience":[20],"against":[21],"scenarios":[22,35],"having":[23],"moderate":[24],"aliasing.":[26],"In":[27],"this":[28,61,224],"work,":[29],"we":[30,44,137,226],"evaluate":[31,45,138],"in":[34,71,79,131,212,223,234],"where":[36],"aliasing":[38],"occurs":[39],"with":[40,120,231],"greater":[41],"frequency.":[42],"Firstly":[43],"front-ends.":[48],"We":[49,110,163,204],"modify":[50],"the":[51,68,72,75,86,124,146,210],"environment":[52],"by":[53],"replicating":[54],"a":[55,94,98,117,165,194,228],"simple":[56,62,95,99],"high":[57],"textured":[58],"patch.":[59],"Surprisingly,":[60,185],"patch":[63,89],"manages":[64,198],"by-pass":[66],"all":[67],"geometric":[69],"checks":[70],"state":[73],"of":[74],"art":[76],"ORB-SLAM,":[77],"resulting":[78],"false":[80,151,173,196],"loop":[81,133,174,197],"closures":[82,175],"and":[83,160,182,239],"hence":[84],"corrupting":[85],"map.":[87],"The":[88],"can":[90,103],"be":[91,104],"printed":[92],"on":[93,108],"paper,":[96],"using":[97],"printer,":[100],"or":[101],"it":[102],"digital":[105],"content":[106,233],"displayed":[107],"screens.":[109],"show":[111],"that":[112],"closeups":[113],"(approaching":[114],"doors,":[115],"turning":[116],"corridor,":[118],"interacting":[119],"an":[121],"object)":[122],"most":[125],"vulnerable":[126],"situations.":[127],"This":[128],"vulnerability":[129],"exists":[130],"multiple":[132,154,179,201],"closing":[134],"pipelines.":[135],"Secondly,":[136],"robust":[139,180,202],"back-ends.":[141,203],"These":[142],"back-ends":[143,181,240],"ability":[147],"recover":[149],"from":[150],"positives":[152],"under":[153],"policies":[155],"(random,":[156],"local,":[157],"random":[158],"grouped":[159],"locally":[161,169],"grouped).":[162],"propose":[164],"novel":[166,229],"policy,":[167],"i.e.":[168],"symmetric,":[170],"for":[171,186,216],"generating":[172],"which":[176],"successfully":[177],"attacks":[178],"public":[183],"datasets.":[184],"commonly":[187],"occurring":[188],"weaker":[189],"structures":[190],"(multiple":[191],"floors)":[192],"even":[193],"single":[195],"fool":[200],"hope":[205],"these":[206],"findings":[207],"will":[208],"motivate":[209],"community":[211],"evolving":[213],"solutions":[215],"adversarial":[217,232],"environments.":[218],"To":[219],"further":[220],"enhance":[221],"progress":[222],"direction,":[225],"release":[227],"dataset":[230],"both":[235],"front-ends":[238],"<sup":[241],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[242],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">1</sup>":[243],".":[244]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":1}],"updated_date":"2026-05-02T08:42:23.175194","created_date":"2025-10-10T00:00:00"}
