The Explainability-aware Frustum Attack (EFA) guided by Saliency-LiDAR (SALL) maps reduces detection recall by more than 15 percentage points using 25-50% fewer perturbed frustums than non-saliency baselines on KITTI and nuScenes for detectors like PointPillars and SECOND.
In: 29th USENIX Security Symposium (USENIX Security 20)
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Explainability-Aware Frustum Attack: Exposing Structural Vulnerabilities in LiDAR-Based 3D Object Detectors
The Explainability-aware Frustum Attack (EFA) guided by Saliency-LiDAR (SALL) maps reduces detection recall by more than 15 percentage points using 25-50% fewer perturbed frustums than non-saliency baselines on KITTI and nuScenes for detectors like PointPillars and SECOND.