相关论文: Temporal Consistency Checks to Detect LiDAR Spoofi…

LiDARs play a critical role in Autonomous Vehicles' (AVs) perception and their safe operations. Recent works have demonstrated that it is possible to spoof LiDAR return signals to elicit fake objects. In this work we demonstrate how the…

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…

Trajectory prediction forecasts nearby agents' moves based on their historical trajectories. Accurate trajectory prediction is crucial for autonomous vehicles. Existing attacks compromise the prediction model of a victim AV by directly…

Cooperative perception via communication among intelligent traffic agents has great potential to improve the safety of autonomous driving. However, limited communication bandwidth, localization errors and asynchronized capturing time of…

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…

Estimating and understanding the surroundings of the vehicle precisely forms the basic and crucial step for the autonomous vehicle. The perception system plays a significant role in providing an accurate interpretation of a vehicle's…

Automated vehicles require an accurate perception of their surroundings for safe and efficient driving. Lidar-based object detection is a widely used method for environment perception, but its performance is significantly affected by…

Lidar has become an essential sensor for autonomous driving as it provides reliable depth estimation. Lidar is also the primary sensor used in building 3D maps which can be used even in the case of low-cost systems which do not use Lidar.…

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…

Modern autonomous driving systems rely heavily on deep learning models to process point cloud sensory data; meanwhile, deep models have been shown to be susceptible to adversarial attacks with visually imperceptible perturbations. Despite…

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…

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.…

3D object detection plays an important role in autonomous driving; however, its vulnerability to backdoor attacks has become evident. By injecting ''triggers'' to poison the training dataset, backdoor attacks manipulate the detector's…

Although the recent image-based 3D object detection methods using Pseudo-LiDAR representation have shown great capabilities, a notable gap in efficiency and accuracy still exist compared with LiDAR-based methods. Besides, over-reliance on…

Real-time perception and motion planning are two crucial tasks for autonomous driving. While there are many research works focused on improving the performance of perception and motion planning individually, it is still not clear how a…

LiDAR systems that rely on classical signals are susceptible to intercept-and-recent spoofing attacks, where a target attempts to avoid detection. To address this vulnerability, we propose a quantum-secured LiDAR protocol that utilizes…

A new robust and accurate approach for the detection and localization of flying objects with the purpose of highly dynamic aerial interception and agile multi-robot interaction is presented in this paper. The approach is proposed for use on…

Accurately localizing 3D objects like pedestrians, cyclists, and other vehicles is essential in Autonomous Driving. To ensure high detection performance, Autonomous Vehicles complement RGB cameras with LiDAR sensors, but effectively…

Multimodal sensor fusion methods for 3D object detection have been revolutionizing the autonomous driving research field. Nevertheless, most of these methods heavily rely on dense LiDAR data and accurately calibrated sensors which is often…

3D object detection using LiDAR data remains a key task for applications like autonomous driving and robotics. Unlike in the case of 2D images, LiDAR data is almost always collected over a period of time. However, most work in this area has…