{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,15]],"date-time":"2025-08-15T02:33:00Z","timestamp":1755225180604,"version":"3.43.0"},"publisher-location":"New York, NY, USA","reference-count":60,"publisher":"ACM","funder":[{"name":"JSPS KAKENHI","award":["22H00519"],"award-info":[{"award-number":["22H00519"]}]},{"name":"JST CREST","award":["JPMJCR23M4"],"award-info":[{"award-number":["JPMJCR23M4"]}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2025,8,25]]},"DOI":"10.1145\/3708821.3733904","type":"proceedings-article","created":{"date-parts":[[2025,8,13]],"date-time":"2025-08-13T06:30:56Z","timestamp":1755066656000},"page":"1083-1100","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":0,"title":["Adversarial Fog: Exploiting the Vulnerabilities of LiDAR Point Cloud Preprocessing Filters"],"prefix":"10.1145","author":[{"ORCID":"https:\/\/orcid.org\/0009-0004-2962-6549","authenticated-orcid":false,"given":"Yuna","family":"Tanaka","sequence":"first","affiliation":[{"name":"Waseda University, Shinjuku, Tokyo, Japan and Deloitte Tohmatsu Cyber LLC, Chiyoda, Tokyo, Japan"}]},{"ORCID":"https:\/\/orcid.org\/0009-0003-2079-2711","authenticated-orcid":false,"given":"Kazuki","family":"Nomoto","sequence":"additional","affiliation":[{"name":"Waseda University, Shinjuku, Tokyo, Japan and Deloitte Tohmatsu Cyber LLC, Chiyoda, Tokyo, Japan"}]},{"ORCID":"https:\/\/orcid.org\/0009-0009-3212-4319","authenticated-orcid":false,"given":"Ryunosuke","family":"Kobayashi","sequence":"additional","affiliation":[{"name":"Waseda University, Shinjuku, Tokyo, Japan"}]},{"ORCID":"https:\/\/orcid.org\/0009-0002-3106-9281","authenticated-orcid":false,"given":"Go","family":"Tsuruoka","sequence":"additional","affiliation":[{"name":"Waseda University, Shinjuku, Tokyo, Japan"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1583-4174","authenticated-orcid":false,"given":"Tatsuya","family":"Mori","sequence":"additional","affiliation":[{"name":"Waseda University\/NICT\/RIKEN, Shinjuku, Tokyo, Japan"}]}],"member":"320","published-online":{"date-parts":[[2025,8,24]]},"reference":[{"key":"e_1_3_3_1_2_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICIP42928.2021.9506016"},{"key":"e_1_3_3_1_3_2","unstructured":"Apollo Auto. 2019. apollo: An open autonomous driving platform. https:\/\/github.com\/ApolloAuto\/apollo."},{"key":"e_1_3_3_1_4_2","unstructured":"Apollo Auto. 2024. perception-pointcloud-preprocess. https:\/\/github.com\/ApolloAuto\/apollo\/tree\/master\/modules\/perception\/pointcloud_preprocess."},{"key":"e_1_3_3_1_5_2","unstructured":"Autonomous Vehicles research group @TalTech. 2019. Estonian first level 4 self-driving vehicle \u2013 ISEAUTO. https:\/\/autolab.taltech.ee\/portfolio\/iseauto\/."},{"key":"e_1_3_3_1_6_2","unstructured":"Autoware Foundation. 2019. Autoware Overview. https:\/\/autoware.org\/autoware-overview\/."},{"key":"e_1_3_3_1_7_2","unstructured":"Autoware Foundation. 2020. Autoware.Universe. https:\/\/github.com\/autowarefoundation\/autoware.universe."},{"key":"e_1_3_3_1_8_2","unstructured":"Autoware Foundation. 2020. FHWA is the first government organization to join The Autoware Foundation. https:\/\/autoware.org\/fhwa-is-the-first-government-organization-to-join-the-autoware-foundation\/."},{"key":"e_1_3_3_1_9_2","unstructured":"Autoware Foundation. 2023. Global Coverage. https:\/\/autoware.org\/case-studies."},{"key":"e_1_3_3_1_10_2","unstructured":"Autoware Foundation. 2024. Autoware Universe Documentation. https:\/\/autowarefoundation.github.io\/autoware.universe\/main\/sensing\/autoware_pointcloud_preprocessor\/docs\/ring-outlier-filter."},{"key":"e_1_3_3_1_11_2","unstructured":"Autoware Foundation. 2024. autoware_pointcloud_preprocessor. https:\/\/github.com\/autowarefoundation\/autoware.universe\/tree\/main\/sensing\/autoware_pointcloud_preprocessor."},{"key":"e_1_3_3_1_12_2","first-page":"2993","volume-title":"32nd USENIX Security Symposium","author":"Cao Y.","year":"2023","unstructured":"Y. Cao, S\u00a0H. Bhupathiraju, P. Naghavi, T. Sugawara, Z\u00a0M. Mao, and S. Rampazzi. 2023. You can\u2019t see me: Physical removal attacks on lidar-based autonomous vehicles driving frameworks. In 32nd USENIX Security Symposium. 2993\u20133010."},{"key":"e_1_3_3_1_13_2","doi-asserted-by":"publisher","DOI":"10.1145\/3319535.3339815"},{"key":"e_1_3_3_1_14_2","doi-asserted-by":"publisher","DOI":"10.1109\/SP40001.2021.00076"},{"key":"e_1_3_3_1_15_2","unstructured":"Y. Cao C. Xiao D. Yang J. Fang R. Yang M. Liu and B. Li. 2019. Adversarial Objects Against LiDAR-Based Autonomous Driving Systems. arXiv preprint arXiv:https:\/\/arXiv.org\/abs\/1907.05418 2019."},{"key":"e_1_3_3_1_16_2","doi-asserted-by":"publisher","DOI":"10.1109\/IV47402.2020.9304681"},{"key":"e_1_3_3_1_17_2","doi-asserted-by":"publisher","DOI":"10.1109\/CRV.2018.00043"},{"key":"e_1_3_3_1_18_2","doi-asserted-by":"publisher","DOI":"10.1145\/3372297.3417249"},{"key":"e_1_3_3_1_19_2","unstructured":"Cision US Inc.2020. Tier IV robot taxi debut powered by Autoware and PACMod 3.0 System. https:\/\/www.prweb.com\/releases\/tier-iv-robot-taxi-debut-powered-by-autoware-and-pacmod-3-0-system-846206427.html."},{"key":"e_1_3_3_1_20_2","unstructured":"Commonwealth of Virginia. 2024. Code of Virginia."},{"key":"e_1_3_3_1_21_2","unstructured":"Federal Highway Administration. 2020. CARMA Program Overview. https:\/\/highways.dot.gov\/research\/operations\/CARMA."},{"key":"e_1_3_3_1_22_2","unstructured":"FLIR. 2021. C3-X. https:\/\/www.flir.com\/products\/c3-x\/."},{"key":"e_1_3_3_1_23_2","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2012.6248074"},{"key":"e_1_3_3_1_24_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV48922.2021.01500"},{"key":"e_1_3_3_1_25_2","first-page":"1903","volume-title":"31st USENIX Security Symposium","author":"Hallyburton R.\u00a0S.","year":"2022","unstructured":"R.\u00a0S. Hallyburton, Y. Liu, Y. Cao, Z.\u00a0M. Mao, and M. Pajic. 2022. Security Analysis of Camera-LiDAR Fusion Against Black-Box Attacks on Autonomous Vehicles. In 31st USENIX Security Symposium. 1903\u20131920. https:\/\/www.usenix.org\/conference\/usenixsecurity22\/presentation\/hallyburton"},{"key":"e_1_3_3_1_26_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICCPS.2018.00035"},{"key":"e_1_3_3_1_27_2","doi-asserted-by":"publisher","DOI":"10.1145\/3548606.3560558"},{"key":"e_1_3_3_1_28_2","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.01298"},{"key":"e_1_3_3_1_29_2","unstructured":"NEVS. 2021. NEVS. https:\/\/www.nevs.com\/."},{"key":"e_1_3_3_1_30_2","unstructured":"Open3D. 2019. Voxel downsampling. https:\/\/www.open3d.org\/docs\/0.9.0\/tutorial\/Basic\/pointcloud.html#voxel-downsampling."},{"key":"e_1_3_3_1_31_2","unstructured":"OpenPCDet Development Team. 2020. OpenPCDet: An Open-source Toolbox for 3D Object Detection from Point Clouds. https:\/\/github.com\/open-mmlab\/OpenPCDet."},{"key":"e_1_3_3_1_32_2","doi-asserted-by":"crossref","unstructured":"J. Park J. Park and K. Kim. 2020. Fast and Accurate Desnowing Algorithm for LiDAR Point Clouds. IEEE Access 8 (2020).","DOI":"10.1109\/ACCESS.2020.3020266"},{"key":"e_1_3_3_1_33_2","volume-title":"Black Hat Europe","author":"Petit J.","year":"2015","unstructured":"J. Petit, B. Stottelaar, M. Feiri, and F. Kargl. 2015. Remote Attacks on Automated Vehicles Sensors: Experiments on Camera and LiDAR. In Black Hat Europe. https:\/\/www.blackhat.com\/docs\/eu-15\/materials\/eu-15-Petit-Self-Driving-And-Connected-Cars-Fooling-Sensors-And-Tracking-Drivers-wp1.pdf"},{"key":"e_1_3_3_1_34_2","unstructured":"Point Cloud Library. 2020. Downsampling a PointCloud using a VoxelGrid filter. https:\/\/pcl.readthedocs.io\/projects\/tutorials\/en\/latest\/voxel_grid.html."},{"key":"e_1_3_3_1_35_2","unstructured":"Point Cloud Library. 2020. Removing Outliers. https:\/\/pcl.readthedocs.io\/projects\/tutorials\/en\/latest\/remove_outliers.html."},{"key":"e_1_3_3_1_36_2","doi-asserted-by":"publisher","unstructured":"J.\u00a0L. P\u00e9rez-D\u00edaz O. Ivanov Z. Peshev M.\u00a0A. \u00c1lvarez Valenzuela I. Valiente-Blanco T. Evgenieva T. Dreischuh O. Gueorguiev P.\u00a0V. Todorov and A. Vaseashta. 2017. Fogs: Physical Basis Characteristic Properties and Impacts on the Environment and Human Health. Water 9 10 (2017). 10.3390\/w9100807","DOI":"10.3390\/w9100807"},{"key":"e_1_3_3_1_37_2","doi-asserted-by":"publisher","unstructured":"R. Rasshofer M. Spies and H. Spies. 2011. Influences of weather phenomena on automotive laser radar systems. Advances in Radio Science (2011). 10.5194\/ars-9-49-2011","DOI":"10.5194\/ars-9-49-2011"},{"key":"e_1_3_3_1_38_2","unstructured":"Reuters. 2023. Waymo vehicles pull over in California due to fog. https:\/\/www.reuters.com\/business\/autos-transportation\/waymo-vehicles-pull-over-california-due-fog-2023-04-12\/."},{"key":"e_1_3_3_1_39_2","doi-asserted-by":"publisher","unstructured":"J.\u00a0M. Rivera\u00a0Vel\u00e1zquez L. Khoudour G. Saint\u00a0Pierre P. Duthon S. Liandrat F. Bernardin S. Fiss I. Ivanov and R. Peleg. 2022. Analysis of Thermal Imaging Performance under Extreme Foggy Conditions: Applications to Autonomous Driving. Journal of Imaging 8 11 (2022). 10.3390\/jimaging8110306","DOI":"10.3390\/jimaging8110306"},{"key":"e_1_3_3_1_40_2","doi-asserted-by":"publisher","DOI":"10.14722\/ndss.2024.23350"},{"key":"e_1_3_3_1_41_2","first-page":"3309","volume-title":"30th USENIX Security Symposium (USENIX Security 21)","author":"Sato T.","year":"2021","unstructured":"T. Sato, J. Shen, N. Wang, Y. Jia, X. Lin, and Q.\u00a0A. Chen. 2021. Dirty Road Can Attack: Security of Deep Learning based Automated Lane Centering under Physical-World Attack. In 30th USENIX Security Symposium (USENIX Security 21). USENIX Association, 3309\u20133326. https:\/\/www.usenix.org\/conference\/usenixsecurity21\/presentation\/sato"},{"key":"e_1_3_3_1_42_2","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.01054"},{"key":"e_1_3_3_1_43_2","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.00086"},{"key":"e_1_3_3_1_44_2","doi-asserted-by":"publisher","unstructured":"S. Shi Z. Wang J. Shi X. Wang and H. Li. 2021. From Points to Parts: 3D Object Detection From Point Cloud With Part-Aware and Part-Aggregation Network. IEEE Transactions on Pattern Analysis and Machine Intelligence 43 8 (2021) 2647\u20132664. 10.1109\/TPAMI.2020.2977026","DOI":"10.1109\/TPAMI.2020.2977026"},{"key":"e_1_3_3_1_45_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-66787-4_22"},{"key":"e_1_3_3_1_46_2","unstructured":"SUBARU. 2022. EyeSight. https:\/\/www.subaru.com\/eyesight.html."},{"key":"e_1_3_3_1_47_2","first-page":"877","volume-title":"29th USENIX Security Symposium","author":"Sun J.","year":"2020","unstructured":"J. Sun, Y. Cao, Q.\u00a0A. Chen, and Z.\u00a0M. Mao. 2020. Towards robust LiDAR-based perception in autonomous driving: General black-box adversarial sensor attack and countermeasures. In 29th USENIX Security Symposium. 877\u2013894."},{"key":"e_1_3_3_1_48_2","unstructured":"The KITTI Vision Benchmark Suite. 2024. 3D Object Detection Evaluation 2017. https:\/\/www.cvlibs.net\/datasets\/kitti\/eval_object.php?obj_benchmark=3d."},{"key":"e_1_3_3_1_49_2","unstructured":"Tier IV. 2021. https:\/\/github.com\/tier4."},{"key":"e_1_3_3_1_50_2","unstructured":"Tier IV. 2022. tier4\/AWSIM: Open source simulator for self-driving vehicles. https:\/\/github.com\/tier4\/AWSIM."},{"key":"e_1_3_3_1_51_2","unstructured":"Tier IV. 2024. TIER IV to launch robotaxi business in Tokyo November 2024:Starting with limited operational domains. https:\/\/medium.com\/tier-iv-tech-blog\/tier-iv-to-launch-robotaxi-service-in-tokyo-by-november-2024-50827943cedf."},{"key":"e_1_3_3_1_52_2","unstructured":"J. Tu H. Li X. Yan M. Ren Y. Chen M. Liang E. Bitar E. Yumer and R. Urtasun. 2021. Exploring Adversarial Robustness of Multi-Sensor Perception Systems in Self Driving. arXiv preprint arXiv:https:\/\/arXiv.org\/abs\/2101.06784. arxiv:https:\/\/arXiv.org\/abs\/2101.06784\u00a0[cs.CV]"},{"key":"e_1_3_3_1_53_2","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.01373"},{"key":"e_1_3_3_1_54_2","unstructured":"Unity. 2021. Unity. https:\/\/unity.com\/."},{"key":"e_1_3_3_1_55_2","unstructured":"Velodyne. 2019. Ultra Puck Surround View Lidar Sensor \u2014 Velodyne Lidar. https:\/\/velodynelidar.com\/products\/ultra-puck."},{"key":"e_1_3_3_1_56_2","unstructured":"Velodyne. 2019. VLP-16 User Manual. https:\/\/velodynelidar.com\/wp-content\/uploads\/2019\/12\/63-9243-Rev-E-VLP-16-User-Manual.pdf."},{"key":"e_1_3_3_1_57_2","unstructured":"Waymo. 2023. Waymo. https:\/\/waymo.com\/."},{"key":"e_1_3_3_1_58_2","doi-asserted-by":"publisher","unstructured":"Y. Yan Y. Mao and B. Li. 2018. SECOND: Sparsely Embedded Convolutional Detection. Sensors 18 10 (2018). 10.3390\/s18103337","DOI":"10.3390\/s18103337"},{"key":"e_1_3_3_1_59_2","doi-asserted-by":"publisher","DOI":"10.1145\/3433210.3453106"},{"key":"e_1_3_3_1_60_2","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR46437.2021.01161"},{"key":"e_1_3_3_1_61_2","first-page":"7339","volume-title":"33rd USENIX Security Symposium","author":"Zhu S.","year":"2024","unstructured":"S. Zhu, Y. Zhao, K. Chen, B. Wang, H. Ma, and C. Wei. 2024. AE-Morpher: Improve Physical Robustness of Adversarial Objects against LiDAR-based Detectors via Object Reconstruction. In 33rd USENIX Security Symposium. 7339\u20137356. https:\/\/www.usenix.org\/conference\/usenixsecurity24\/presentation\/zhu-shenchen"}],"event":{"name":"ASIA CCS '25: 20th ACM Asia Conference on Computer and Communications Security","location":"Hanoi Vietnam","acronym":"ASIA CCS '25","sponsor":["SIGSAC ACM Special Interest Group on Security, Audit, and Control"]},"container-title":["Proceedings of the 20th ACM Asia Conference on Computer and Communications Security"],"original-title":[],"link":[{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3708821.3733904","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,8,13]],"date-time":"2025-08-13T07:32:23Z","timestamp":1755070343000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3708821.3733904"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,8,24]]},"references-count":60,"alternative-id":["10.1145\/3708821.3733904","10.1145\/3708821"],"URL":"https:\/\/doi.org\/10.1145\/3708821.3733904","relation":{},"subject":[],"published":{"date-parts":[[2025,8,24]]},"assertion":[{"value":"2025-08-24","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}