相关论文: BadFusion: 2D-Oriented Backdoor Attacks against 3D…

4D radar has received significant attention in autonomous driving thanks to its robustness under adverse weathers. Due to the sparse points and noisy measurements of the 4D radar, most of the research finish the 3D object detection task by…

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…

Recent years have witnessed the remarkable progress of 3D multi-modality object detection methods based on the Bird's-Eye-View (BEV) perspective. However, most of them overlook the complementary interaction and guidance between LiDAR and…

Backdoor attacks embed hidden associations between triggers and targets in deep neural networks (DNNs), causing them to predict the target when a trigger is present while maintaining normal behavior otherwise. Physical backdoor attacks,…

Backdoor attacks pose a serious security threat for training neural networks as they surreptitiously introduce hidden functionalities into a model. Such backdoors remain silent during inference on clean inputs, evading detection due to…

In recent years, diffusion models have achieved remarkable success in the realm of high-quality image generation, garnering increased attention. This surge in interest is paralleled by a growing concern over the security threats associated…

We propose LiRaFusion to tackle LiDAR-radar fusion for 3D object detection to fill the performance gap of existing LiDAR-radar detectors. To improve the feature extraction capabilities from these two modalities, we design an early fusion…

Camera and radar sensors have significant advantages in cost, reliability, and maintenance compared to LiDAR. Existing fusion methods often fuse the outputs of single modalities at the result-level, called the late fusion strategy. This can…

We experimentally study the robustness of deep camera-LiDAR fusion architectures for 2D object detection in autonomous driving. First, we find that the fusion model is usually both more accurate, and more robust against single-source…

Autonomous vehicles (AVs) rely heavily on LiDAR sensors for accurate 3D perception. We show a novel class of low-cost, passive LiDAR spoofing attacks that exploit mirror-like surfaces to inject or remove objects from an AV's perception.…

With the advancement of deep learning, object detectors (ODs) with various architectures have achieved significant success in complex scenarios like autonomous driving. Previous adversarial attacks against ODs have been focused on designing…

3D deep learning has been increasingly more popular for a variety of tasks including many safety-critical applications. However, recently several works raise the security issues of 3D deep models. Although most of them consider adversarial…

Good 3D object detection performance from LiDAR-Camera sensors demands seamless feature alignment and fusion strategies. We propose the 3DifFusionDet framework in this paper, which structures 3D object detection as a denoising diffusion…

By identifying four important components of existing LiDAR-camera 3D object detection methods (LiDAR and camera candidates, transformation, and fusion outputs), we observe that all existing methods either find dense candidates or yield…

LiDAR sensors are used widely in Autonomous Vehicles for better perceiving the environment which enables safer driving decisions. Recent work has demonstrated serious LiDAR spoofing attacks with alarming consequences. In particular,…

In the field of autonomous driving, 3D object detection is a very important perception module. Although the current SOTA algorithm combines Camera and Lidar sensors, limited by the high price of Lidar, the current mainstream landing schemes…

Deep neural networks have been shown to be vulnerable to backdoor attacks, which could be easily introduced to the training set prior to model training. Recent work has focused on investigating backdoor attacks on natural images or toy…

Backdoors and poisoning attacks are a major threat to the security of machine-learning and vision systems. Often, however, these attacks leave visible artifacts in the images that can be visually detected and weaken the efficacy of the…

The widespread adoption of deep learning across various industries has introduced substantial challenges, particularly in terms of model explainability and security. The inherent complexity of deep learning models, while contributing to…

Automotive traffic scenes are complex due to the variety of possible scenarios, objects, and weather conditions that need to be handled. In contrast to more constrained environments, such as automated underground trains, automotive…