Adversarial Trust Poisoning in Vehicular Collaborative Perception

arXiv:2605.22122 · cs.CR, cs.AI · Submitted 2026-05-21 · Read on arXiv

cs.CR, cs.AI

Submitted: 2026-05-21

Updated: 2026-08-28

Terminology

• Collaborative Perception — 22× in this paper
• Consistency — 19× in this paper · explained in 3 episodes
• Benchmark — 11× in this paper · explained in 2 episodes
• Late Fusion — 10× in this paper · explained in 2 episodes
• Point Clouds — 8× in this paper · explained in 2 episodes
• Robustness — 8× in this paper · explained in 5 episodes
• Average Precision — 4× in this paper
• Adversarial Attacks — 3× in this paper · explained in 1 episode
• Accuracy — 2× in this paper · explained in 1 episode
• Adam — 2× in this paper · explained in 2 episodes
• Adversarial Examples — 2× in this paper · explained in 2 episodes
• Alignment — 2× in this paper · explained in 1 episode
• IEEE Symposium on Security and Privacy — 2× in this paper
• Regularization — 2× in this paper · explained in 3 episodes
• Transformer — 2× in this paper · explained in 2 episodes
• Aggregation — 1× in this paper · explained in 1 episode
• Attack Success Rate (ASR) — 1× in this paper · explained in 2 episodes
• Attention Mechanism — 1× in this paper · explained in 3 episodes
• Bayesian Framework — 1× in this paper · explained in 3 episodes
• Calibration — 1× in this paper · explained in 7 episodes
• Communication Overhead — 1× in this paper · explained in 2 episodes
• Cooperation — 1× in this paper · explained in 2 episodes
• Feature Extraction — 1× in this paper · explained in 2 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Loss Function — 1× in this paper · explained in 2 episodes
• Reconstruction Error — 1× in this paper · explained in 2 episodes

Sources

• Adversarial Objects Against LiDAR-Based Autonomous Driving Systems
• Categorical Reparameterization with Gumbel-Softmax
• From Stealthy Data Fabrication to Unsafe Driving: Realistic Scenario Attacks on Collaborative Perception
• CP-Guard+: A New Paradigm for Malicious Agent Detection and Defense in Collaborative Perception
• A Cooperative Perception Environment for Traffic Operations and Control
• Robust Collaborative 3D Object Detection in Presence of Pose Errors
• JigsawComm: Joint Semantic Feature Encoding and Transmission for Communication-Efficient Cooperative Perception

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