# Sensor Adversarial Traits: Analyzing Robustness of 3D Object Detection Sensor Fusion Models

arXiv: https://arxiv.org/abs/2109.06363 · HTML: https://mlsanity.com/paper/2109.06363/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- Builds on 16 of its 22 references that are in the map.
- First posted on arXiv 13 Sep 2021.

## Builds on (most cited first, 16 of 16)

- [Towards Evaluating the Robustness of Neural Networks](https://mlsanity.com/paper/1608.04644/) (2016)
- [Benchmarking Neural Network Robustness to Common Corruptions and Perturbations](https://mlsanity.com/paper/1903.12261/) (2019)
- [Universal adversarial perturbations](https://mlsanity.com/paper/1610.08401/) (2016)
- [Multi-View 3D Object Detection Network for Autonomous Driving](https://mlsanity.com/paper/1611.07759/) (2016)
- [Frustum PointNets for 3D Object Detection from RGB-D Data](https://mlsanity.com/paper/1711.08488/) (2017)
- [Joint 3D Proposal Generation and Object Detection from View Aggregation](https://mlsanity.com/paper/1712.02294/) (2017)
- [Adversarial Examples for Semantic Segmentation and Object Detection](https://mlsanity.com/paper/1703.08603/) (2017)
- [Fooling automated surveillance cameras: adversarial patches to attack person detection](https://mlsanity.com/paper/1904.08653/) (2019)
- [Physical Adversarial Examples for Object Detectors](https://mlsanity.com/paper/1807.07769/) (2018)
- [Adversarial Sensor Attack on LiDAR-based Perception in Autonomous Driving](https://mlsanity.com/paper/1907.06826/) (2019)
- [Physically Realizable Adversarial Examples for LiDAR Object Detection](https://mlsanity.com/paper/2004.00543/) (2020)
- [Towards Robust LiDAR-based Perception in Autonomous Driving: General Black-box Adversarial Sensor Attack and Countermeasures](https://mlsanity.com/paper/2006.16974/) (2020)
- [Generalizable Data-free Objective for Crafting Universal Adversarial Perturbations](https://mlsanity.com/paper/1801.08092/) (2018)
- [Towards Adversarially Robust Object Detection](https://mlsanity.com/paper/1907.10310/) (2019)
- [On Single Source Robustness in Deep Fusion Models](https://mlsanity.com/paper/1906.04691/) (2019)
- [Geometry-Aware Generation of Adversarial Point Clouds](https://mlsanity.com/paper/1912.11171/) (2019)

## Built on by (most cited first, 5 of 5)

- [Robo3D: Towards Robust and Reliable 3D Perception against Corruptions](https://mlsanity.com/paper/2303.17597/) (2023)
- [Understanding the Robustness of 3D Object Detection with Bird's-Eye-View Representations in Autonomous Driving](https://mlsanity.com/paper/2303.17297/) (2023)
- [Fusion is Not Enough: Single Modal Attacks on Fusion Models for 3D Object Detection](https://mlsanity.com/paper/2304.14614/) (2023)
- [A Black-Box Evaluation Framework for Semantic Robustness in Bird's Eye View Detection](https://mlsanity.com/paper/2412.13913/) (2024)
- [Exploring Adversarial Robustness of LiDAR-Camera Fusion Model in Autonomous Driving](https://mlsanity.com/paper/2312.01468/) (2023)

## Abstract (arXiv)

A critical aspect of autonomous vehicles (AVs) is the object detection stage, which is increasingly being performed with sensor fusion models: multimodal 3D object detection models which utilize both 2D RGB image data and 3D data from a LIDAR sensor as inputs. In this work, we perform the first study to analyze the robustness of a high-performance, open source sensor fusion model architecture towards adversarial attacks and challenge the popular belief that the use of additional sensors automatically mitigate the risk of adversarial attacks. We find that despite the use of a LIDAR sensor, the model is vulnerable to our purposefully crafted image-based adversarial attacks including disappearance, universal patch, and spoofing. After identifying the underlying reason, we explore some potential defenses and provide some recommendations for improved sensor fusion models.