Exorcising ''Wraith'': Protecting LiDAR-based Object Detector in Automated Driving System from Appearing Attacks. (arXiv:2303.09731v1 [cs.CR])

Automated driving systems rely on 3D object detectors to recognize possible
obstacles from LiDAR point clouds. However, recent works show the adversary can
forge non-existent cars in the prediction results with a few fake points (i.e.,
appearing attack). By removing statistical outliers, existing defenses are
however designed for specific attacks or biased by predefined heuristic rules.
Towards more comprehensive mitigation, we first systematically inspect the
mechanism of recent appearing attacks: Their common weaknesses are observed in
crafting fake obstacles which …

adversary attack attacks automated cars clouds detector driving fake forge lidar mitigation non object point prediction protecting results rules system systems