Simulated adversarial attack detectors with moderate accuracy (75% true positive, up to 25% false positive) reduce mean along-track localization error by about 50% in visual place recognition navigation, and reference-based attacks are the most effective against modern VPR systems.
Optimal transport aggregation for visual place recognition,
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Adversarial Attacks and Detection in Visual Place Recognition for Safer Robot Navigation
Simulated adversarial attack detectors with moderate accuracy (75% true positive, up to 25% false positive) reduce mean along-track localization error by about 50% in visual place recognition navigation, and reference-based attacks are the most effective against modern VPR systems.