Related papers: PhantomLiDAR: Cross-modality Signal Injection Atta…
As neuromorphic technology is maturing, its application to robotics and autonomous vehicle systems has become an area of active research. In particular, event cameras have emerged as a compelling alternative to frame-based cameras in…
LiDAR sensors play an important role in the perception stack of modern autonomous driving systems. Adverse weather conditions such as rain, fog and dust, as well as some (occasional) LiDAR hardware fault may cause the LiDAR to produce…
Accurate 3D object detection is crucial to autonomous driving. Though LiDAR-based detectors have achieved impressive performance, the high cost of LiDAR sensors precludes their widespread adoption in affordable vehicles. Camera-based…
Looming, traditionally defined as the relative expansion of objects in the observer's retina, is a fundamental visual cue for perception of threat and can be used to accomplish collision free navigation. The measurement of the looming cue…
Lidar-based SLAM systems are highly sensitive to adverse conditions such as occlusion, noise, and field-of-view (FoV) degradation, yet existing robustness evaluation methods either lack physical grounding or do not capture sensor-specific…
Radar shows great potential for autonomous driving by accomplishing long-range sensing under diverse weather conditions. But radar is also a particularly challenging sensing modality due to the radar noises. Recent works have made enormous…
Simultaneous localization and mapping (SLAM) is a fundamental capability required by most autonomous systems. In this paper, we address the problem of loop closing for SLAM based on 3D laser scans recorded by autonomous cars. Our approach…
Deep learning (DL) has been widely studied for assisting applications of modern wireless communications. One of the applications is automatic modulation classification (AMC). However, DL models are found to be vulnerable to adversarial…
Semantic segmentation of LiDAR data presents considerable challenges, particularly when dealing with diverse sensor types and configurations. However, incorporating semantic information can significantly enhance the accuracy and robustness…
LiDAR and 4D radar are widely used in autonomous driving and robotics. While LiDAR provides rich spatial information, 4D radar offers velocity measurement and remains robust under adverse conditions. As a result, increasing studies have…
We propose LiDAL, a novel active learning method for 3D LiDAR semantic segmentation by exploiting inter-frame uncertainty among LiDAR frames. Our core idea is that a well-trained model should generate robust results irrespective of…
Recent advances in Vision-Language Models (VLMs) have propelled embodied agents by enabling direct perception, reasoning, and planning task-oriented actions from visual inputs. However, such vision-driven embodied agents open a new attack…
Object detection can localize and identify objects in images, and it is extensively employed in critical multimedia applications such as security surveillance and autonomous driving. Despite the success of existing object detection models,…
LiDAR sensors play a crucial role in various applications, especially in autonomous driving. Current research primarily focuses on optimizing perceptual models with point cloud data as input, while the exploration of deeper cognitive…
Realistic vehicle sensor simulation is an important element in developing autonomous driving. As physics-based implementations of visual sensors like LiDAR are complex in practice, data-based approaches promise solutions. Using pairs of…
The high demand for 3D imaging in intelligent robotics is motivating the advances of coherent LiDARs towards high performances with low complexity/cost. However, the current coherent LiDARs suffer from the tight coupling between the high…
In this paper, we describe how the electronic rolling shutter in CMOS image sensors can be exploited using a bright, modulated light source (e.g., an inexpensive, off-the-shelf laser), to inject fine-grained image disruptions. We…
To deal with the degeneration caused by the incomplete constraints of single sensor, multi-sensor fusion strategies especially in LiDAR-vision-inertial fusion area have attracted much interest from both the industry and the research…
Large Language Models (LLMs), while powerful, are built and trained to process a single text input. In common applications, multiple inputs can be processed by concatenating them together into a single stream of text. However, the LLM is…
Coherent LiDAR (Light Detecting And Ranging) is a promising 3D imaging technology that provides significant advantages over more traditional LiDAR systems. In addition to being immune to ambient light, it directly measures the velocity of…