On the Adversarial Robustness of Camera-based 3D Object Detection

Shaoyuan Xie, Zichao Li, Zeyu Wang, Cihang Xie

Abstract: In recent years, camera-based 3D object detection has gained widespread attention for its ability to achieve high performance with low computational cost. However, the robustness of these methods to adversarial attacks has not been thoroughly examined, especially when considering their deployment in safety-critical domains like autonomous driving. In this study, we conduct the first comprehensive investigation of the robustness of leading camera-based 3D object detection approaches under various adversarial conditions. We systematically analyze the resilience of these models under two attack settings: white-box and black-box; focusing on two primary objectives: classification and localization. Additionally, we delve into two types of adversarial attack techniques: pixel-based and patch-based. Our experiments yield four interesting findings: (a) bird's-eye-view-based representations exhibit stronger robustness against localization attacks; (b) depth-estimation-free approaches have the potential to show stronger robustness; (c) accurate depth estimation effectively improves robustness for depth-estimation-based methods; (d) incorporating multi-frame benign inputs can effectively mitigate adversarial attacks. We hope our findings can steer the development of future camera-based object detection models with enhanced adversarial robustness. The code is available at: https://github.com/Daniel-xsy/BEV-Attack.

Submission Length: Regular submission (no more than 12 pages of main content)

Changes Since Last Submission:

- Add more results from FGSM, C&W attack, and AutoPGD attack.
- Add more discussion on the temporal fusion part with more experiments.
- Add ethical and social impact discussion.

Code: https://github.com/Daniel-xsy/BEV-Attack

Assigned Action Editor: ~Charles_Xu1

License: Creative Commons Attribution 4.0 International (CC BY 4.0)

Submission Number: 1724