Related papers: Lateral-Direction Localization Attack in High-Leve…

The accuracy and robustness of vehicle localization are critical for achieving safe and reliable high-level autonomy. Recent results show that GPS is vulnerable to spoofing attacks, which is one major threat to autonomous driving. In this…

Modern autonomous vehicles adopt state-of-the-art DNN models to interpret the sensor data and perceive the environment. However, DNN models are vulnerable to different types of adversarial attacks, which pose significant risks to the…

For high-level Autonomous Vehicles (AV), localization is highly security and safety critical. One direct threat to it is GPS spoofing, but fortunately, AV systems today predominantly use Multi-Sensor Fusion (MSF) algorithms that are…

Accurate localization is essential for enabling modern full self-driving services. These services heavily rely on map-based traffic information to reduce uncertainties in recognizing lane shapes, traffic light locations, and traffic signs.…

We present a novel physical-world attack on autonomous vehicle (AV) lane detection systems that leverages negative shadows -- bright, lane-like patterns projected by passively redirecting sunlight through occluders. These patterns exploit…

Deep learning-based lane detection (LD) plays a critical role in autonomous driving systems, such as adaptive cruise control. However, it is vulnerable to backdoor attacks. Existing backdoor attack methods on LD exhibit limited…

In Autonomous Driving (AD) systems, perception is both security and safety critical. Despite various prior studies on its security issues, all of them only consider attacks on camera- or LiDAR-based AD perception alone. However, production…

Autonomous vehicles rely on LiDAR sensors to detect obstacles such as pedestrians, other vehicles, and fixed infrastructures. LiDAR spoofing attacks have been demonstrated that either create erroneous obstacles or prevent detection of real…

Deep learning-based lane detection (LD) plays a critical role in autonomous driving and advanced driver assistance systems. However, its vulnerability to backdoor attacks presents a significant security concern. Existing backdoor attack…

In Autonomous Vehicles (AVs), one fundamental pillar is perception, which leverages sensors like cameras and LiDARs (Light Detection and Ranging) to understand the driving environment. Due to its direct impact on road safety, multiple prior…

Perception plays a pivotal role in autonomous driving systems, which utilizes onboard sensors like cameras and LiDARs (Light Detection and Ranging) to assess surroundings. Recent studies have demonstrated that LiDAR-based perception is…

Autonomous vehicles (AVs) rely heavily on LiDAR (Light Detection and Ranging) systems for accurate perception and navigation, providing high-resolution 3D environmental data that is crucial for object detection and classification. However,…

We present an approach towards robust lane tracking for assisted and autonomous driving, particularly under poor visibility. Autonomous detection of lane markers improves road safety, and purely visual tracking is desirable for widespread…

We present a visual localization framework based on novel deep attention aware features for autonomous driving that achieves centimeter level localization accuracy. Conventional approaches to the visual localization problem rely on…

In this study, we address a gap in existing unsupervised domain adaptation approaches on LiDAR-based 3D object detection, which have predominantly concentrated on adapting between established, high-density autonomous driving datasets. We…

Deep neural networks (DNNs) are found to be vulnerable against adversarial examples, which are carefully crafted inputs with a small magnitude of perturbation aiming to induce arbitrarily incorrect predictions. Recent studies show that…

Assessing the safety of autonomous driving (AD) systems against security threats, particularly backdoor attacks, is a stepping stone for real-world deployment. However, existing works mainly focus on pixel-level triggers that are…

Localization for autonomous vehicles on highways remains under-explored compared to urban roads, and state-of-the-art methods for urban scenes degrade when directly applied to highways. We identify key challenges including environment…

Autonomous driving systems (ADS) increasingly rely on deep learning-based perception models, which remain vulnerable to adversarial attacks. In this paper, we revisit adversarial attacks and defense methods, focusing on road sign…

In Autonomous Driving (AD), real-time perception is a critical component responsible for detecting surrounding objects to ensure safe driving. While researchers have extensively explored the integrity of AD perception due to its safety and…