Robustness Certification for Point Cloud Models

Tobias Lorenz, Anian Ruoss, Mislav Balunović, Gagandeep Singh, Martin Vechev

Research output: Chapter in Book/Report/Conference proceedingConference contribution


The use of deep 3D point cloud models in safety-critical applications, such as autonomous driving, dictates the need to certify the robustness of these models to real-world transformations. This is technically challenging, as it requires a scalable verifier tailored to point cloud models that handles a wide range of semantic 3D transformations. In this work, we address this challenge and introduce 3DCertify, the first verifier able to certify the robustness of point cloud models. 3DCertify is based on two key insights: (i) a generic relaxation based on first-order Taylor approximations, applicable to any differentiable transformation, and (ii) a precise relaxation for global feature pooling, which is more complex than pointwise activations (e.g., ReLU or sigmoid) but commonly employed in point cloud models. We demonstrate the effectiveness of 3DCertify by performing an extensive evaluation on a wide range of 3D transformations (e.g., rotation, twisting) for both classification and part segmentation tasks. For example, we can certify robustness against rotations by ±60° for 95.7% of point clouds, and our max pool relaxation increases certification by up to 15.6%.

Original languageEnglish (US)
Title of host publicationProceedings - 2021 IEEE/CVF International Conference on Computer Vision, ICCV 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages11
ISBN (Electronic)9781665428125
StatePublished - 2021
Event18th IEEE/CVF International Conference on Computer Vision, ICCV 2021 - Virtual, Online, Canada
Duration: Oct 11 2021Oct 17 2021

Publication series

NameProceedings of the IEEE International Conference on Computer Vision
ISSN (Print)1550-5499


Conference18th IEEE/CVF International Conference on Computer Vision, ICCV 2021
CityVirtual, Online

ASJC Scopus subject areas

  • Software
  • Computer Vision and Pattern Recognition


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