Revisiting LiDAR Spoofing Attack Capabilities against Object Detection: Improvements, Measurement, and New Attack

03/19/2023
by   Takami Sato, et al.
0

LiDAR (Light Detection And Ranging) is an indispensable sensor for precise long- and wide-range 3D sensing, which directly benefited the recent rapid deployment of autonomous driving (AD). Meanwhile, such a safety-critical application strongly motivates its security research. A recent line of research demonstrates that one can manipulate the LiDAR point cloud and fool object detection by firing malicious lasers against LiDAR. However, these efforts face 3 critical research gaps: (1) evaluating only on a specific LiDAR (VLP-16); (2) assuming unvalidated attack capabilities; and (3) evaluating with models trained on limited datasets. To fill these critical research gaps, we conduct the first large-scale measurement study on LiDAR spoofing attack capabilities on object detectors with 9 popular LiDARs in total and 3 major types of object detectors. To perform this measurement, we significantly improved the LiDAR spoofing capability with more careful optics and functional electronics, which allows us to be the first to clearly demonstrate and quantify key attack capabilities assumed in prior works. However, we further find that such key assumptions actually can no longer hold for all the other (8 out of 9) LiDARs that are more recent than VLP-16 due to various recent LiDAR features. To this end, we further identify a new type of LiDAR spoofing attack that can improve on this and be applicable to a much more general and recent set of LiDARs. We find that its attack capability is enough to (1) cause end-to-end safety hazards in simulated AD scenarios, and (2) remove real vehicles in the physical world. We also discuss the defense side.

READ FULL TEXT

page 1

page 6

page 10

page 12

page 13

page 16

page 17

page 18

research
10/18/2022

You Can't See Me: Physical Removal Attacks on LiDAR-based Autonomous Vehicles Driving Frameworks

Autonomous Vehicles (AVs) increasingly use LiDAR-based object detection ...
research
07/16/2019

Adversarial Sensor Attack on LiDAR-based Perception in Autonomous Driving

In Autonomous Vehicles (AVs), one fundamental pillar is perception, whic...
research
06/17/2021

Invisible for both Camera and LiDAR: Security of Multi-Sensor Fusion based Perception in Autonomous Driving Under Physical-World Attacks

In Autonomous Driving (AD) systems, perception is both security and safe...
research
06/30/2020

Towards Robust LiDAR-based Perception in Autonomous Driving: General Black-box Adversarial Sensor Attack and Countermeasures

Perception plays a pivotal role in autonomous driving systems, which uti...
research
03/29/2021

Fooling LiDAR Perception via Adversarial Trajectory Perturbation

LiDAR point clouds collected from a moving vehicle are functions of its ...
research
11/22/2020

Who is in Control? Practical Physical Layer Attack and Defense for mmWave based Sensing in Autonomous Vehicles

With the wide bandwidths in millimeter wave (mmWave) frequency band that...
research
02/07/2021

Object Removal Attacks on LiDAR-based 3D Object Detectors

LiDARs play a critical role in Autonomous Vehicles' (AVs) perception and...

Please sign up or login with your details

Forgot password? Click here to reset