mlsanityData to 7 Oct 2026

Physical Adversarial Attack on Vehicle Detector in the Carla Simulator

arXiv 2007.16118 ↗First posted 31 Jul 2020cs.CVcited by 38

Not on the map. Why?

Abstract (arXiv)

In this paper, we tackle the issue of physical adversarial examples for object detectors in the wild. Specifically, we proposed to generate adversarial patterns to be applied on vehicle surface so that it's not recognizable by detectors in the photo-realistic Carla simulator. Our approach contains two main techniques, an Enlarge-and-Repeat process and a Discrete Searching method, to craft mosaic-like adversarial vehicle textures without access to neither the model weight of the detector nor a differential rendering procedure. The experimental results demonstrate the effectiveness of our approach in the simulator.

Key facts. Cited by 38 papers in the map (data through 7 Oct 2026). First posted on arXiv 31 Jul 2020.

Builds on

No reference list yet.

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 6; 2022: 7; 2023: 7; 2024: 7; 2025: 9; 2026: 2.

38 papers.

Sort:

By area:

  1. 2021AdvSim: Generating Safety-Critical Scenarios for Self-Driving Vehiclescited by 132
  2. 2021FCA: Learning a 3D Full-coverage Vehicle Camouflage for Multi-view Physical Adversarial Attackcited by 74
  3. 2022Physical Adversarial Attack meets Computer Vision: A Decade Surveycited by 66
  4. 2021Evaluating the Robustness of Semantic Segmentation for Autonomous Driving against Real-World Adversarial Patch Attackscited by 55
  5. 2022DTA: Physical Camouflage Attacks using Differentiable Transformation Networkcited by 51
  6. 2024Physical 3D Adversarial Attacks against Monocular Depth Estimation in Autonomous Drivingcited by 32
  7. 2023ACTIVE: Towards Highly Transferable 3D Physical Camouflage for Universal and Robust Vehicle Evasioncited by 31
  8. 2022On the Real-World Adversarial Robustness of Real-Time Semantic Segmentation Models for Autonomous Drivingcited by 30
  9. 2021Deep Learning-Based Autonomous Driving Systems: A Survey of Attacks and Defensescited by 29
  10. 2022A Survey on Physical Adversarial Attack in Computer Visioncited by 24
  11. 2023Physical Adversarial Attacks For Camera-based Smart Systems: Current Trends, Categorization, Applications, Research Challenges, and Future Outlookcited by 20
  12. 2024RAUCA: A Novel Physical Adversarial Attack on Vehicle Detectors via Robust and Accurate Camouflage Generationcited by 18
26 more
  1. 2021DeformRS: Certifying Input Deformations with Randomized Smoothingcited by 17
  2. 2024Object Detectors in the Open Environment: Challenges, Solutions, and Outlookcited by 13
  3. 2022Visual Adversarial Attacks and Defenses in the Physical World: A Surveycited by 11
  4. 2023Adv3D: Generating 3D Adversarial Examples for 3D Object Detection in Driving Scenarios with NeRFcited by 10
  5. 2023Adv3D: Generating Safety-Critical 3D Objects through Closed-Loop Simulationcited by 10
  6. 2022CARLA-GeAR: a Dataset Generator for a Systematic Evaluation of Adversarial Robustness of Vision Modelscited by 8
  7. 2025PlanT 2.0: Exposing Biases and Structural Flaws in Closed-Loop Drivingcited by 8
  8. 2021Patch Attack Invariance: How Sensitive are Patch Attacks to 3D Pose?cited by 7
  9. 2024Flexible Physical Camouflage Generation Based on a Differential Approachcited by 7
  10. 20253D Gaussian Splatting Driven Multi-View Robust Physical Adversarial Camouflage Generationcited by 6
  11. 2023Exploring the Physical World Adversarial Robustness of Vehicle Detectioncited by 5
  12. 2023Embodied Laser Attack:Leveraging Scene Priors to Achieve Agent-based Robust Non-contact Attackscited by 4
  13. 2024CNCA: Toward Customizable and Natural Generation of Adversarial Camouflage for Vehicle Detectorscited by 4
  14. 2022Emerging Threats in Deep Learning-Based Autonomous Driving: A Comprehensive Surveycited by 3
  15. 2023Attention-Based Real-Time Defenses for Physical Adversarial Attacks in Vision Applicationscited by 3
  16. 20253DGAA: Realistic and Robust 3D Gaussian-based Adversarial Attack for Autonomous Drivingcited by 2
  17. 2024Toward Robust and Accurate Adversarial Camouflage Generation against Vehicle Detectorscited by 1
  18. 2025A Survey of Adversarial Defenses in Vision-based Systems: Categorization, Methods and Challengescited by 1
  19. 2025Towards Benchmarking and Assessing the Safety and Robustness of Autonomous Driving on Safety-critical Scenarioscited by 1
  20. 2025Adversarial Examples in Environment Perception for Automated Driving (Review)cited by 1
  21. 2025Kaleidoscopic Background Attack: Disrupting Pose Estimation with Multi-Fold Radial Symmetry Texturescited by 1
  22. 2025UNDREAM: Bridging Differentiable Rendering and Photorealistic Simulation for End-to-end Adversarial Attackscited by 1
  23. 2024Universal Multi-view Black-box Attack against Object Detectors via Layout Optimizationcited by 0
  24. 2025Attacking Autonomous Driving Agents with Adversarial Machine Learning: A Holistic Evaluation with the CARLA Leaderboardcited by 0
  25. 2026R-PGA: Robust Physical Adversarial Camouflage Generation via Relightable 3D Gaussian Splattingcited by 0
  26. 2026ALLUDE: A Unified Evaluation System for Configurable Attacks in Differentiable Environmentscited by 0