Presentation 2020-07-21
Adversarial scan attack against ICP algorithm for pose estimation on LiDAR-based SLAM
Kota Yoshida, Takeshi Fujino,
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Abstract(in Japanese) (See Japanese page)
Abstract(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)
Keyword(in English) SLAM / Adversarial examples / Instrumentation Security / LiDAR
Paper # ISEC2020-26,SITE2020-23,BioX2020-29,HWS2020-19,ICSS2020-13,EMM2020-23
Date of Issue 2020-07-13 (ISEC, SITE, BioX, HWS, ICSS, EMM)

Conference Information
Committee SITE / ISEC / HWS / EMM / BioX / IPSJ-CSEC / IPSJ-SPT / ICSS
Conference Date 2020/7/20(2days)
Place (in Japanese) (See Japanese page)
Place (in English) Online
Topics (in Japanese) (See Japanese page)
Topics (in English) Security, etc.
Chair Masaru Ogawa(Kobe Gakuin Univ.) / Shoichi Hirose(Univ. of Fukui) / Makoto Ikeda(Univ. of Tokyo) / Masaki Kawamura(Yamaguchi Univ.) / Akira Otsuka(AIST) / / / Hiroki Takakura(NII)
Vice Chair Takushi Otani(Kibi International Univ.) / Takeo Tatsumi(Open Univ. of Japan) / Tetsuya Izu(Fujitsu Labs.) / Noboru Kunihiro(Univ. of Tokyo) / Yasuhisa Shimazaki(Renesas Electronics) / Makoto Nagata(Kobe Univ.) / Motoi Iwata(Osaka Prefecture Univ.) / Masaaki Fujiyoshi(Tokyo Metropolitan Univ.) / Takahiro Aoki(Fujitsu Labs.) / Masatsugu Ichino(Univ. of Electro-Comm.) / / / Katsunari Yoshioka(Yokohama National Univ.) / Kazunori Kamiya(NTT)
Secretary Takushi Otani(KDDI Research) / Takeo Tatsumi(Yamaguchi Pref Univ.) / Tetsuya Izu(Tsukuba Univ.) / Noboru Kunihiro(Fujitsu Labs.) / Yasuhisa Shimazaki(Kyushu Univ.) / Makoto Nagata(NTT) / Motoi Iwata(Tokyo Denki Univ.) / Masaaki Fujiyoshi(Kansai Univ.) / Takahiro Aoki(SECOM) / Masatsugu Ichino(KDDI Research) / / / Katsunari Yoshioka(NICT) / Kazunori Kamiya(KDDI labs.)
Assistant Daisuke Suzuki(Hokuriku Univ.) / Hideyuki Fujii(NRI-Secure) / Kazuki Yoneyama(Ibaraki Univ.) / / Madoka Hasegawa(Utsunomiya Univ.) / Maki Yoshida(NICT) / Emiko Sano(MitsubishiElectric) / Akihiro Hayasaka(NEC) / / / Keisuke Kito(Mitsubishi Electric) / Toshihiro Yamauchi(Okayama Univ.)

Paper Information
Registration To Technical Committee on Social Implications of Technology and Information Ethics / Technical Committee on Information Security / Technical Committee on Hardware Security / Technical Committee on Enriched MultiMedia / Technical Committee on Biometrics / Special Interest Group on Computer Security / Special Interest Group on Security Psychology and Trust / Technical Committee on Information and Communication System Security
Language JPN
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
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.)
Date 2020-07-21
Paper # ISEC2020-26,SITE2020-23,BioX2020-29,HWS2020-19,ICSS2020-13,EMM2020-23
Volume (vol) vol.120
Number (no) ISEC-112,SITE-113,BioX-114,HWS-115,ICSS-116,EMM-117
Page pp.pp.81-86(ISEC), pp.81-86(SITE), pp.81-86(BioX), pp.81-86(HWS), pp.81-86(ICSS), pp.81-86(EMM),
#Pages 6
Date of Issue 2020-07-13 (ISEC, SITE, BioX, HWS, ICSS, EMM)