arXiv:2607. 09787v1 Announce Type: cross Abstract: LiDAR semantic segmentation is a key perception task in autonomous driving, where false predictions can affect downstream planning and safety-critical decision-making.
Recent advancements in LiDAR-only 3D object detection have demonstrated improved detection accuracy over benchmark datasets. However, the adversarial robustness of these models remains untested.
Lang3DSeg introduces a point‑transformer backbone for open‑vocabulary, annotation‑free 3D LiDAR segmentation, trained from scratch without geometric pre‑training. It tackles noise from 2D‑to‑3D label projections by applying a class‑priority rule and truncating projected instances at depth gaps, thereby correcting depth‑ambiguity errors. The method achieves state‑of‑the‑art results on nuScenes (52.8 % mIoU) and SemanticKITTI (41.4 % mIoU) while operating in real‑time on a single LiDAR sweep.
arXiv:2609.10322v1 Announce Type: new Abstract: Transferring the rich priors of large 2D foundation models to sparse 3D LiDAR remains challenging, as training native 3D foundation models at comparabl...
arXiv:2607. 01983v1 Announce Type: cross Abstract: Robust 3D object detection under adverse weather remains a critical hurdle for autonomous driving.
FSPGD introduces a feature-space black-box attack for semantic segmentation that targets intermediate representations rather than just output logits. The method uses a dual loss: an external loss to disrupt cross-model feature alignment and an internal loss to reduce consistency among same-class instances. Experiments on Pascal VOC 2012 and Cityscapes show that FSPGD outperforms existing logit-level and segmentation-specific attacks across CNN and Transformer backbones, and its adversarial examples improve robustness when used for training.
arXiv:2510.10471v3 Announce Type: replace-cross Abstract: Environmental perception systems are crucial for high-precision mapping and autonomous navigation, with LiDAR serving as a core sensor provid...
arXiv:2609.23541v1 Announce Type: new Abstract: Multimodal 3D object detection is fundamental to robust perception in autonomous driving because it integrates complementary information from LiDAR and...
arXiv:2606.20752v2 Announce Type: replace Abstract: Deep neural network-based LiDAR 3D object detection serves as a critical perception component in safety-critical autonomous systems. However, recen...
arXiv:2307. 06647v4 Announce Type: replace-cross Abstract: We propose DeepIPCv2, an end-to-end autonomous driving framework that integrates LiDAR-based environmental perception with command-specific control learning.
arXiv:2607. 04145v1 Announce Type: new Abstract: Adversarial attacks guide and provide additional training and test data for both adversarial training and adversarial robustness validation, and expose the 'piecewise linearity' of deep learning based models.
The paper introduces LiDAR‑SAM2, a framework that converts the 2D video foundation model SAM2 into a scalable source of supervision for 4D LiDAR data. By projecting SAM2 video masks into multi‑view LiDAR space and aggregating them temporally, the method automatically generates temporally coherent LiDAR labels without human annotation. Experiments on SemanticKITTI show that these automatically produced semantic and panoptic labels achieve quality close to full human annotation, enabling models trained on them to approach the performance of fully supervised systems.
arXiv:2608. 07750v1 Announce Type: cross Abstract: Deep Neural Networks (DNNs) have found successful deployment in numerous vision perception systems.