Related papers: ADoPT: LiDAR Spoofing Attack Detection Based on Po…

Autonomous Vehicles (AVs) increasingly depend on Multi-Sensor Fusion (MSF) to combine complementary modalities such as cameras and LiDAR for robust perception. While this redundancy is intended to safeguard against single-sensor failures,…

Autonomous Vehicles (AVs) increasingly use LiDAR-based object detection systems to perceive other vehicles and pedestrians on the road. While existing attacks on LiDAR-based autonomous driving architectures focus on lowering the confidence…

The deep neural network (DNN) models for object detection using camera images are widely adopted in autonomous vehicles. However, DNN models are shown to be susceptible to adversarial image perturbations. In the existing methods of…

Deep neural networks (DNNs) have enabled astounding progress in several vision-based problems. Despite showing high predictive accuracy, recently, several works have revealed that they tend to provide overconfident predictions and thus are…

LiDAR-based 3D object detection and panoptic segmentation are two crucial tasks in the perception systems of autonomous vehicles and robots. In this paper, we propose All-in-One Perception Network (AOP-Net), a LiDAR-based multi-task…

Autonomous vehicles rely on LiDAR based perception to support safety critical control functions such as adaptive cruise control and automatic emergency braking. While previous research has shown that LiDAR perception can be manipulated…

Autonomous Vehicles (AVs) are mostly reliant on LiDAR sensors which enable spatial perception of their surroundings and help make driving decisions. Recent works demonstrated attacks that aim to hide objects from AV perception, which can…

There has been a recent surge in research on adversarial perturbations that defeat Deep Neural Networks (DNNs) in machine vision; most of these perturbation-based attacks target object classifiers. Inspired by the observation that humans…

A resilient and robust positioning, navigation, and timing (PNT) system is a necessity for the navigation of autonomous vehicles (AVs). Global Navigation Satelite System (GNSS) provides satellite-based PNT services. However, a spoofer can…

Modern self-driving perception systems have been shown to improve upon processing complementary inputs such as LiDAR with images. In isolation, 2D images have been found to be extremely vulnerable to adversarial attacks. Yet, there have…

Neural networks has been successfully used in the processing of Lidar data, especially in the scenario of autonomous driving. However, existing methods heavily rely on pre-processing of the pulse signals derived from Lidar sensors and…

Deep neural networks (DNNs) are highly susceptible to adversarial examples--subtle, imperceptible perturbations that can lead to incorrect predictions. While detection-based defenses offer a practical alternative to adversarial training,…

Distribution-to-distribution (D2D) point cloud registration techniques such as the Normal Distributions Transform (NDT) can align point clouds sampled from unstructured scenes and provide accurate bounds of their own solution error…

The proposal of Pseudo-Lidar representation has significantly narrowed the gap between visual-based and active Lidar-based 3D object detection. However, current researches exclusively focus on pushing the accuracy improvement of…

Robust 3D object detection is a core challenge for autonomous mobile systems in field robotics. To tackle this issue, many researchers have demonstrated improvements in 3D object detection performance in datasets. However, real-world urban…

Advanced Persistent Threats (APTs) pose a severe challenge to cyber defense due to their stealthy behavior and the extreme class imbalance inherent in detection datasets. To address these issues, we propose a novel active learning-based…

In recent times, the scope of LIDAR (Light Detection and Ranging) sensor-based technology has spread across numerous fields. It is popularly used to map terrain and navigation information into reliable 3D point cloud data, potentially…

Advanced Persistent Threats (APTs) represent a growing menace to modern digital infrastructure. Unlike traditional cyberattacks, APTs are stealthy, adaptive, and long-lasting, often bypassing signature-based detection systems. This paper…

This paper describes an optimized single-stage deep convolutional neural network to detect objects in urban environments, using nothing more than point cloud data. This feature enables our method to work regardless the time of the day and…

This work addresses the challenge of adapting dynamic deadline requirements for LiDAR object detection deep neural networks (DNNs). The computing latency of object detection is critically important to ensure safe and efficient navigation.…