# Evaluating the Robustness of Off-Road Autonomous Driving Segmentation against Adversarial Attacks: A Dataset-Centric analysis

arXiv: https://arxiv.org/abs/2402.02154 · HTML: https://mlsanity.com/paper/2402.02154/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 20 of its 30 references that are in the map.
- First posted on arXiv 3 Feb 2024.

## Builds on (most cited first, 20 of 20)

- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [Explaining and Harnessing Adversarial Examples](https://mlsanity.com/paper/1412.6572/) (2014)
- [Fully Convolutional Networks for Semantic Segmentation](https://mlsanity.com/paper/1411.4038/) (2014)
- [The Cityscapes Dataset for Semantic Urban Scene Understanding](https://mlsanity.com/paper/1604.01685/) (2016)
- [DeepLab: Semantic Image Segmentation with Deep Convolutional Nets, Atrous Convolution, and Fully Connected CRFs](https://mlsanity.com/paper/1606.00915/) (2016)
- [Scalability in Perception for Autonomous Driving: Waymo Open Dataset](https://mlsanity.com/paper/1912.04838/) (2019)
- [Adversarial examples in the physical world](https://mlsanity.com/paper/1607.02533/) (2016)
- [Adversarial Examples Are Not Bugs, They Are Features](https://mlsanity.com/paper/1905.02175/) (2019)
- [Adversarial Examples Are Not Easily Detected: Bypassing Ten Detection Methods](https://mlsanity.com/paper/1705.07263/) (2017)
- [Adversarial Attacks on Neural Network Policies](https://mlsanity.com/paper/1702.02284/) (2017)
- [Adversarially Robust Generalization Requires More Data](https://mlsanity.com/paper/1804.11285/) (2018)
- [Adversarial Risk and the Dangers of Evaluating Against Weak Attacks](https://mlsanity.com/paper/1802.05666/) (2018)
- [LinkNet: Exploiting Encoder Representations for Efficient Semantic Segmentation](https://mlsanity.com/paper/1707.03718/) (2017)
- [PnPNet: End-to-End Perception and Prediction with Tracking in the Loop](https://mlsanity.com/paper/2005.14711/) (2020)
- [Adversarial examples from computational constraints](https://mlsanity.com/paper/1805.10204/) (2018)
- [Adversarial vulnerability for any classifier](https://mlsanity.com/paper/1802.08686/) (2018)
- [A Boundary Tilting Persepective on the Phenomenon of Adversarial Examples](https://mlsanity.com/paper/1608.07690/) (2016)
- [The Curse of Concentration in Robust Learning: Evasion and Poisoning Attacks from Concentration of Measure](https://mlsanity.com/paper/1809.03063/) (2018)
- [Adversarial Example Defenses: Ensembles of Weak Defenses are not Strong](https://mlsanity.com/paper/1706.04701/) (2017)
- [On the Real-World Adversarial Robustness of Real-Time Semantic Segmentation Models for Autonomous Driving](https://mlsanity.com/paper/2201.01850/) (2022)

## Built on by (most cited first, 1 of 1)

- [Autonomous Driving in Unstructured Environments: How Far Have We Come?](https://mlsanity.com/paper/2410.07701/) (2024)

## Abstract (arXiv)

This study investigates the vulnerability of semantic segmentation models to adversarial input perturbations, in the domain of off-road autonomous driving. Despite good performance in generic conditions, the state-of-the-art classifiers are often susceptible to (even) small perturbations, ultimately resulting in inaccurate predictions with high confidence. Prior research has directed their focus on making models more robust by modifying the architecture and training with noisy input images, but has not explored the influence of datasets in adversarial attacks. Our study aims to address this gap by examining the impact of non-robust features in off-road datasets and comparing the effects of adversarial attacks on different segmentation network architectures. To enable this, a robust dataset is created consisting of only robust features and training the networks on this robustified dataset. We present both qualitative and quantitative analysis of our findings, which have important implications on improving the robustness of machine learning models in off-road autonomous driving applications. Additionally, this work contributes to the safe navigation of autonomous robot Unimog U5023 in rough off-road unstructured environments by evaluating the robustness of segmentation outputs. The code is publicly available at https://github.com/rohtkumar/adversarial_attacks_ on_segmentation