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In the realm of modern autonomous driving, the perception system is indispensable for accurately assessing the state of the surrounding environment, thereby enabling informed prediction and planning. The key step to this system is related…

Autonomous driving systems (ADSs) rely on real-time sensor data, such as cameras and LiDARs, for time-critical decisions using deep neural networks. The accuracy of these decisions is crucial for the widespread adoption of ADSs, as errors…

Recent years have witnessed significant advancements in deep learning-based 3D object detection, leading to its widespread adoption in numerous applications. As 3D object detectors become increasingly crucial for security-critical tasks, it…

There are two critical sensors for 3D perception in autonomous driving, the camera and the LiDAR. The camera provides rich semantic information such as color, texture, and the LiDAR reflects the 3D shape and locations of surrounding…

Our study assesses the adversarial robustness of LiDAR-camera fusion models in 3D object detection. We introduce an attack technique that, by simply adding a limited number of physically constrained adversarial points above a car, can make…

LiDAR (Light Detection And Ranging) is an indispensable sensor for precise long- and wide-range 3D sensing, which directly benefited the recent rapid deployment of autonomous driving (AD). Meanwhile, such a safety-critical application…

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,…

An accurate and rapid-response perception system is fundamental for autonomous vehicles to operate safely. 3D object detection methods handle point clouds given by LiDAR sensors to provide accurate depth and position information for each…

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…

Advanced Driver Assistance Systems (ADAS) based on deep neural networks (DNNs) are widely used in autonomous vehicles for critical perception tasks such as object detection, semantic segmentation, and lane recognition. However, these…

A unified system integrating a compact object detector and a surrounding environmental condition classifier for enhancing the robustness of object detection scheme in advanced driver assistance systems (ADAS) is proposed in this paper. ADAS…

A critical aspect of autonomous vehicles (AVs) is the object detection stage, which is increasingly being performed with sensor fusion models: multimodal 3D object detection models which utilize both 2D RGB image data and 3D data from a…

In autonomous driving, the combination of AI and vehicular technology offers great potential. However, this amalgamation comes with vulnerabilities to adversarial attacks. This survey focuses on the intersection of Adversarial Machine…

3D Object Detectors (3D-OD) are crucial for understanding the environment in many robotic tasks, especially autonomous driving. Including 3D information via Lidar sensors improves accuracy greatly. However, such detectors perform poorly on…

Adaptive robots in dynamic production environments require robust perception capabilities, including 6D pose estimation and multi-object tracking. To address limitations in real-world data dependency, noise robustness, and spatiotemporal…

Obstacle detection is crucial to the operation of autonomous driving systems, which rely on multiple sensors, such as cameras and LiDARs, combined with code logic and deep learning models to detect obstacles for time-sensitive decisions.…

For autonomous driving, an essential task is to detect surrounding objects accurately. To this end, most existing systems use optical devices, including cameras and light detection and ranging (LiDAR) sensors, to collect environment data in…

Autonomous Vehicles rely on accurate and robust sensor observations for safety critical decision-making in a variety of conditions. Fundamental building blocks of such systems are sensors and classifiers that process ultrasound, RADAR, GPS,…

Accurate perception of dynamic obstacles is essential for autonomous robot navigation in indoor environments. Although sophisticated 3D object detection and tracking methods have been investigated and developed thoroughly in the fields of…

LiDAR sensors are used in autonomous driving applications to accurately perceive the environment. However, they are affected by adverse weather conditions such as snow, fog, and rain. These everyday phenomena introduce unwanted noise into…