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| Main Authors: | , , |
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| Format: | Preprint |
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2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2509.19793 |
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| _version_ | 1866915511019765760 |
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| author | Zhang, Yixun Zhou, Feng Yin, Jianqin |
| author_facet | Zhang, Yixun Zhou, Feng Yin, Jianqin |
| contents | Camera-based perception is critical to autonomous driving yet remains vulnerable to task-specific adversarial manipulations in object detection and monocular depth estimation. Most existing 2D/3D attacks are developed in task silos, lack mechanisms to induce controllable depth bias, and offer no standardized protocol to quantify cross-task transfer, leaving the interaction between detection and depth underexplored. We present BiTAA, a bi-task adversarial attack built on 3D Gaussian Splatting that yields a single perturbation capable of simultaneously degrading detection and biasing monocular depth. Specifically, we introduce a dual-model attack framework that supports both full-image and patch settings and is compatible with common detectors and depth estimators, with optional expectation-over-transformation (EOT) for physical reality. In addition, we design a composite loss that couples detection suppression with a signed, magnitude-controlled log-depth bias within regions of interest (ROIs) enabling controllable near or far misperception while maintaining stable optimization across tasks. We also propose a unified evaluation protocol with cross-task transfer metrics and real-world evaluations, showing consistent cross-task degradation and a clear asymmetry between Det to Depth and from Depth to Det transfer. The results highlight practical risks for multi-task camera-only perception and motivate cross-task-aware defenses in autonomous driving scenarios. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2509_19793 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | BiTAA: A Bi-Task Adversarial Attack for Object Detection and Depth Estimation via 3D Gaussian Splatting Zhang, Yixun Zhou, Feng Yin, Jianqin Computer Vision and Pattern Recognition Camera-based perception is critical to autonomous driving yet remains vulnerable to task-specific adversarial manipulations in object detection and monocular depth estimation. Most existing 2D/3D attacks are developed in task silos, lack mechanisms to induce controllable depth bias, and offer no standardized protocol to quantify cross-task transfer, leaving the interaction between detection and depth underexplored. We present BiTAA, a bi-task adversarial attack built on 3D Gaussian Splatting that yields a single perturbation capable of simultaneously degrading detection and biasing monocular depth. Specifically, we introduce a dual-model attack framework that supports both full-image and patch settings and is compatible with common detectors and depth estimators, with optional expectation-over-transformation (EOT) for physical reality. In addition, we design a composite loss that couples detection suppression with a signed, magnitude-controlled log-depth bias within regions of interest (ROIs) enabling controllable near or far misperception while maintaining stable optimization across tasks. We also propose a unified evaluation protocol with cross-task transfer metrics and real-world evaluations, showing consistent cross-task degradation and a clear asymmetry between Det to Depth and from Depth to Det transfer. The results highlight practical risks for multi-task camera-only perception and motivate cross-task-aware defenses in autonomous driving scenarios. |
| title | BiTAA: A Bi-Task Adversarial Attack for Object Detection and Depth Estimation via 3D Gaussian Splatting |
| topic | Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2509.19793 |