3D Point Cloud Completion with Geometric-Aware Adversarial Augmentation

摘要

With the popularity of 3D sensors in self-driving and other robotics applications, extensive research has focused on designing novel neural network architectures for accurate 3D point cloud completion. However, unlike point cloud classification and reconstruction, the role of adversarial samples in 3D point cloud completion has seldom been explored. In this work, we demonstrate that adversarial samples can benefit neural networks on 3D point cloud completion tasks. We propose a novel approach to craft adversarial samples that improve the performance of models on both clean and adversarial inputs. In contrast to the Projected Gradient Descent (PGD) attack, our method generates adversarial samples that keep the geometric features in clean samples and contain few outliers. In particular, we use minimum absolute curvature directions to constrain the adversarial perturbations for each input point. The gradient components in the minimum absolute curvature directions are taken as adversarial perturbations. In addition, we adopt attack strength accumulation and auxiliary Batch Normalization layers to speed up the training process and alleviate the distribution mismatch between clean and adversarial samples. Experimental results demonstrate that training with the adversarial samples crafted by our method under the geometric-aware constraint effectively enhances the performance of the Point Completion Network (PCN) on the ShapeNet dataset.