相关论文: Adversarial Sensor Attack on LiDAR-based Perceptio…

In this work, we study vulnerability of unmanned aerial vehicles (UAVs) to stealthy attacks on perception-based control. To guide our analysis, we consider two specific missions: ($i$) ground vehicle tracking (GVT), and ($ii$) vertical…

Perception technologies in Autonomous Driving are experiencing their golden age due to the advances in Deep Learning. Yet, most of these systems rely on the semantically rich information of RGB images. Deep Learning solutions applied to the…

As autonomous vehicle (AV) technology advances towards maturity, it becomes imperative to examine the security vulnerabilities within these cyber-physical systems. While conventional cyber-security concerns are often at the forefront of…

Scalable systems for automated driving have to reliably cope with an open-world setting. This means, the perception systems are exposed to drastic domain shifts, like changes in weather conditions, time-dependent aspects, or geographic…

This paper addresses the problem of data-driven modeling and verification of perception-based autonomous systems. We assume the perception model can be decomposed into a canonical model (obtained from first principles or a simulator) and a…

3D object detection is a central task for applications such as autonomous driving, in which the system needs to localize and classify surrounding traffic agents, even in the presence of adverse weather. In this paper, we address the problem…

This report demonstrates several methods used to make a self-driving vehicle using a supervised learning algorithm and a forward-facing RGBD camera. The project originally involved research in creating an adversarial attack on the vehicle's…

Autonomous driving requires a detailed understanding of complex driving scenes. The redundancy and complementarity of the vehicle's sensors provide an accurate and robust comprehension of the environment, thereby increasing the level of…

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…

The goal of this paper is to classify objects mapped by LiDAR sensor into different classes such as vehicles, pedestrians and bikers. Utilizing a LiDAR-based object detector and Neural Networks-based classifier, a novel real-time object…

Modeling perception sensors is key for simulation based testing of automated driving functions. Beyond weather conditions themselves, sensors are also subjected to object dependent environmental influences like tire spray caused by vehicles…

For safety of autonomous driving, vehicles need to be able to drive under various lighting, weather, and visibility conditions in different environments. These external and environmental factors, along with internal factors associated with…

A significant barrier to deploying autonomous vehicles (AVs) on a massive scale is safety assurance. Several technical challenges arise due to the uncertain environment in which AVs operate such as road and weather conditions, errors in…

Cyber-physical systems can be subject to sensor attacks, e.g., sensor spoofing, leading to unsafe behaviors. This paper addresses this problem in the context of linear systems when an omniscient attacker can spoof several system sensors at…

Perception is a key component of Automated vehicles (AVs). However, sensors mounted to the AVs often encounter blind spots due to obstructions from other vehicles, infrastructure, or objects in the surrounding area. While recent…

LiDAR is crucial for robust 3D scene perception in autonomous driving. LiDAR perception has the largest body of literature after camera perception. However, multi-task learning across tasks like detection, segmentation, and motion…

Millimeter-wave radar systems are one of the core components of the safety-critical Advanced Driver Assistant System (ADAS) of a modern vehicle. Due to their ability to operate efficiently despite bad weather conditions and poor visibility,…

Autonomous vehicles, including self driving cars, ground robots, and drones, rely on multi-modal sensor pipelines for safe operation, yet remain vulnerable to adversarial sensor attacks. A critical gap is the lack of a systematic end-to-end…

Sensor fusion is crucial for a performant and robust Perception system in autonomous vehicles, but sensor staleness, where data from different sensors arrives with varying delays, poses significant challenges. Temporal misalignment between…

Autonomous driving (AD) systems are often built and tested in a modular fashion, where the performance of different modules is measured using task-specific metrics. These metrics should be chosen so as to capture the downstream impact of…