No Trespassing: Ground-view Adversarial Patches for Privacy-aware Management in COTS Robot Vacuum Cleaner

Robot vacuum cleaners (RVCs) with autonomous navigation and decision-making capabilities have become an integral part of modern homes. During their operations, these devices may inadvertently enter privacy-sensitive areas, leading to potential privacy breaches. However, existing defense methods risk exposing the location of private areas, require root privileges, or are designed for infrared sensors that are ineffective for camera-based RVCs. To overcome these limitations, we propose a novel solution, a ground-view adversarial patch named GPatch, preventing RVCs from entering privacy-sensitive areas. Users only need to place GPatch at the entrance of restricted areas to prevent an RVC's unauthorized access, while also providing a warning to unauthorized individuals. We evaluate GPatch in realworld environments with an average success rate of 87.27%, and experimental results demonstrate its effectiveness, robustness, and transferability, making it a practical, user-friendly, and reliable solution for safeguarding privacy in home environments.