# In-the-Wild Camouflage Attack on Vehicle Detectors through Controllable Image Editing

arXiv: https://arxiv.org/abs/2603.19456 · HTML: https://mlsanity.com/paper/2603.19456/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 39 of its 48 references that are in the map.
- First posted on arXiv 19 Mar 2026.

## Builds on (most cited first, 30 of 39)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Denoising Diffusion Probabilistic Models](https://mlsanity.com/paper/2006.11239/) (2020)
- [High-Resolution Image Synthesis with Latent Diffusion Models](https://mlsanity.com/paper/2112.10752/) (2021)
- [Microsoft COCO: Common Objects in Context](https://mlsanity.com/paper/1405.0312/) (2014)
- [Very Deep Convolutional Networks for Large-Scale Image Recognition](https://mlsanity.com/paper/1409.1556/) (2014)
- [The Unreasonable Effectiveness of Deep Features as a Perceptual Metric](https://mlsanity.com/paper/1801.03924/) (2018)
- [Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networks](https://mlsanity.com/paper/1506.01497/) (2015)
- [Explaining and Harnessing Adversarial Examples](https://mlsanity.com/paper/1412.6572/) (2014)
- [Flow Matching for Generative Modeling](https://mlsanity.com/paper/2210.02747/) (2022)
- [Adding Conditional Control to Text-to-Image Diffusion Models](https://mlsanity.com/paper/2302.05543/) (2023)
- [Scaling Rectified Flow Transformers for High-Resolution Image Synthesis](https://mlsanity.com/paper/2403.03206/) (2024)
- [Flow Straight and Fast: Learning to Generate and Transfer Data with Rectified Flow](https://mlsanity.com/paper/2209.03003/) (2022)
- [SAM 2: Segment Anything in Images and Videos](https://mlsanity.com/paper/2408.00714/) (2024)
- [CARLA: An Open Urban Driving Simulator](https://mlsanity.com/paper/1711.03938/) (2017)
- [InternVL3: Exploring Advanced Training and Test-Time Recipes for Open-Source Multimodal Models](https://mlsanity.com/paper/2504.10479/) (2025)
- [Improved Regularization of Convolutional Neural Networks with Cutout](https://mlsanity.com/paper/1708.04552/) (2017)
- [MMDetection: Open MMLab Detection Toolbox and Benchmark](https://mlsanity.com/paper/1906.07155/) (2019)
- [Colorful Image Colorization](https://mlsanity.com/paper/1603.08511/) (2016)
- [Exploring Plain Vision Transformer Backbones for Object Detection](https://mlsanity.com/paper/2203.16527/) (2022)
- [Depth Anything 3: Recovering the Visual Space from Any Views](https://mlsanity.com/paper/2511.10647/) (2025)
- [Image Segmentation Using Deep Learning: A Survey](https://mlsanity.com/paper/2001.05566/) (2020)
- [Object Detection with Deep Learning: A Review](https://mlsanity.com/paper/1807.05511/) (2018)
- [Adversarial Camouflage: Hiding Physical-World Attacks with Natural Styles](https://mlsanity.com/paper/2003.08757/) (2020)
- [Diffusion Models for Imperceptible and Transferable Adversarial Attack](https://mlsanity.com/paper/2305.08192/) (2023)
- [Real-Time Flying Object Detection with YOLOv8](https://mlsanity.com/paper/2305.09972/) (2023)
- [Distilling Diffusion Models into Conditional GANs](https://mlsanity.com/paper/2405.05967/) (2024)
- [Diffusion-Based Adversarial Sample Generation for Improved Stealthiness and Controllability](https://mlsanity.com/paper/2305.16494/) (2023)
- [AdvDiff: Generating Unrestricted Adversarial Examples using Diffusion Models](https://mlsanity.com/paper/2307.12499/) (2023)
- [Towards Benchmarking and Assessing Visual Naturalness of Physical World Adversarial Attacks](https://mlsanity.com/paper/2305.12863/) (2023)
- [RAUCA: A Novel Physical Adversarial Attack on Vehicle Detectors via Robust and Accurate Camouflage Generation](https://mlsanity.com/paper/2402.15853/) (2024)

## Abstract (arXiv)

Deep neural networks (DNNs) have achieved remarkable success in computer vision but remain highly vulnerable to adversarial attacks. Among them, camouflage attacks manipulate an object's visible appearance to deceive detectors while remaining stealthy to humans. In this paper, we propose a new framework that formulates vehicle camouflage attacks as a conditional image-editing problem. Specifically, we explore both image-level and scene-level camouflage generation strategies, and fine-tune a ControlNet to synthesize camouflaged vehicles directly on real images. We design a unified objective that jointly enforces vehicle structural fidelity, style consistency, and adversarial effectiveness. Extensive experiments on the COCO and LINZ datasets show that our method achieves significantly stronger attack effectiveness, leading to more than 38% AP50 decrease, while better preserving vehicle structure and improving human-perceived stealthiness compared to existing approaches. Furthermore, our framework generalizes effectively to unseen black-box detectors and exhibits promising transferability to the physical world. Project page is available at https://humansensinglab.github.io/CtrlCamo