Hanyu Cai

Hanyu Cai, Ni Ou, Junzheng Wang

This paper presents a novel visual-LiDAR odometry and mapping method with low-drift characteristics. The proposed method is based on two popular approaches, ORB-SLAM and A-LOAM, with monocular scale correction and visual-bootstrapped LiDAR poses initialization modifications. The scale corrector calculates the proportion between the depth of image keypoints recovered by triangulation and that provided by LiDAR, using an outlier rejection process for accuracy improvement. Concerning LiDAR poses initialization, the visual odometry approach gives the initial guesses of LiDAR motions for better performance. This methodology is not only applicable to high-resolution LiDAR but can also adapt to low-resolution LiDAR. To evaluate the proposed SLAM system's robustness and accuracy, we conducted experiments on the KITTI Odometry and S3E datasets. Experimental results illustrate that our method significantly outperforms standalone ORB-SLAM2 and A-LOAM. Furthermore, regarding the accuracy of visual odometry with scale correction, our method performs similarly to the stereo-mode ORB-SLAM2.

Yuhang Cai, Yaofei Wang, Donghui Hu et al.

The development of large language models (LLMs) has raised concerns about potential misuse. One practical solution is to embed a watermark in the text, allowing ownership verification through watermark extraction. Existing methods primarily focus on defending against modification attacks, often neglecting other spoofing attacks. For example, attackers can alter the watermarked text to produce harmful content without compromising the presence of the watermark, which could lead to false attribution of this malicious content to the LLM. This situation poses a serious threat to the LLMs service providers and highlights the significance of achieving modification detection and generated-text detection simultaneously. Therefore, we propose a technique to detect modifications in text for unbiased watermark which is sensitive to modification. We introduce a new metric called ``discarded tokens", which measures the number of tokens not included in watermark detection. When a modification occurs, this metric changes and can serve as evidence of the modification. Additionally, we improve the watermark detection process and introduce a novel method for unbiased watermark. Our experiments demonstrate that we can achieve effective dual detection capabilities: modification detection and generated-text detection by watermark.