相关论文: Exorcising ''Wraith'': Protecting LiDAR-based Obje…

LiDAR-based 3D object detection plays a critical role for reliable and safe autonomous driving systems. However, existing detectors often produce overly confident predictions for objects not belonging to known categories, posing significant…

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…

In Autonomous Driving (AD), detection and tracking of obstacles on the roads is a critical task. Deep-learning based methods using annotated LiDAR data have been the most widely adopted approach for this. Unfortunately, annotating 3D point…

Visual detection is a key task in autonomous driving, and it serves as a crucial foundation for self-driving planning and control. Deep neural networks have achieved promising results in various visual tasks, but they are known to be…

LiDAR sensors are widely used in autonomous vehicles to better perceive the environment. However, prior works have shown that LiDAR signals can be spoofed to hide real objects from 3D object detectors. This study explores the feasibility of…

Deep learning has substantially boosted the performance of Monocular Depth Estimation (MDE), a critical component in fully vision-based autonomous driving (AD) systems (e.g., Tesla and Toyota). In this work, we develop an attack against…

Most autonomous vehicles (AVs) rely on LiDAR and RGB camera sensors for perception. Using these point cloud and image data, perception models based on deep neural nets (DNNs) have achieved state-of-the-art performance in 3D detection. The…

In this paper, we strive for solving the ambiguities arisen by the astoundingly high density of raw PseudoLiDAR for monocular 3D object detection for autonomous driving. Without much computational overhead, we propose a supervised and an…

Object detection tasks, crucial in safety-critical systems like autonomous driving, focus on pinpointing object locations. These detectors are known to be susceptible to backdoor attacks. However, existing backdoor techniques have primarily…

Blind spots or outright deceit can bedevil and deceive machine learning models. Unidentified objects such as digital "stickers," also known as adversarial patches, can fool facial recognition systems, surveillance systems and self-driving…

Autonomous driving systems (ADS) increasingly rely on deep learning-based perception models, which remain vulnerable to adversarial attacks. In this paper, we revisit adversarial attacks and defense methods, focusing on road sign…

Physical adversarial attacks against object detectors have seen increasing success in recent years. However, these attacks require direct access to the object of interest in order to apply a physical patch. Furthermore, to hide multiple…

LiDAR-based 3D object detection has become an essential part of automated driving due to its ability to localize and classify objects precisely in 3D. However, object detectors face a critical challenge when dealing with unknown foreground…

Object detection forms a key component in Unmanned Aerial Vehicles (UAVs) for completing high-level tasks that depend on the awareness of objects on the ground from an aerial perspective. In that scenario, adversarial patch attacks on an…

Object detectors, which are widely deployed in security-critical systems such as autonomous vehicles, have been found vulnerable to patch hiding attacks. An attacker can use a single physically-realizable adversarial patch to make the…

Perception of obstacles remains a critical safety concern for autonomous vehicles. Real-world collisions have shown that the autonomy faults leading to fatal collisions originate from obstacle existence detection. Open source autonomous…

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…

Autonomous driving, in recent years, has been receiving increasing attention for its potential to relieve drivers' burdens and improve the safety of driving. In modern autonomous driving pipelines, the perception system is an indispensable…

Self-driving cars (SDC) commonly implement the perception pipeline to detect the surrounding obstacles and track their moving trajectories, which lays the ground for the subsequent driving decision making process. Although the security of…

Object detectors are vulnerable to backdoor attacks. In contrast to classifiers, detectors possess unique characteristics, architecturally and in task execution; often operating in challenging conditions, for instance, detecting traffic…