Automated Tracking System For LiDAR Spoofing Attacks On Moving Targets

Recent studies have demonstrated that LiDAR sensors are vulnerable to spoofing attacks, in which adversaries spoof fake points to fool the car's perception system to see non-existent obstacles. However, these attacks are generally conducted on static or simulated scenarios. Therefore, in this demo, we perform the first LiDAR spoofing attack on moving targets. We implemented a minimal tracking system integrated with an optimized spoofer device to perform laser-based attacks on Lidar sensors.

Read the full paper here: AutoSec Workshop website

We performed the laser spoofing attack demonstration tracking a Velodyne VLP-16 PUCK on top of a Neato Botvac D85 Robot at the maximum robot speed of 0.11 m/s. We list here four demo videos recorded in different indoor scenarios: different directions, 3 meters and 4 meters away from the spoofer, and two environmental light conditions (natural, and artificial light). The spoofed points appear in the Veloview real-time visualization screen (up left corner) surrounded by a red circle, and in front of the robot moving direction (in front of the LiDAR sensor).

All the 16 vertical lines can be spoofed, with up to 100 fake points generated at 4 meters distance from the spoofer location.

Demo 1

Tracking a Velodyne VLP-16 PUCK LiDAR on top of a Neato Botvac D85 Robot while proceeding on a straight line at the controlled speed of 0.11m/s, 4 meters away from the spoofer under artificial light condition.

4martificial.mp4

Demo 2

Tracking a Velodyne VLP-16 PUCK LiDAR on top of a Neato Botvac D85 Robot while proceeding on a straight line at the controlled speed of 0.11m/s, 4 meters away from the spoofer under natural light condition.

4mnatural.mp4

Demo 3

Tracking a Velodyne VLP-16 PUCK LiDAR on top of a Neato Botvac D85 Robot while proceeding on a straight line at the controlled speed of 0.11m/s, 3 meters away from the spoofer under artificial light condition with inverse moving direction.

3martificial.mp4

Demo 4

Tracking a Velodyne VLP-16 PUCK LiDAR on top of a Neato Botvac D85 Robot while proceeding on a straight line at the controlled speed of 0.11m/s, 3 meters away from the spoofer under natural light condition.

3mnatural.mp4

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