GCP detects malicious agents in collaborative perception using spatial-temporal aware methods with a confidence-scaled loss and historical BEV flow reconstruction, achieving up to 34.69% AP@0.5 gains under a new BAC attack.
CP-Guard+: A New Paradigm for Malicious Agent Detection and Defense in Collaborative Perception,
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GCP: Guarded Collaborative Perception with Spatial-Temporal Aware Malicious Agent Detection
GCP detects malicious agents in collaborative perception using spatial-temporal aware methods with a confidence-scaled loss and historical BEV flow reconstruction, achieving up to 34.69% AP@0.5 gains under a new BAC attack.