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Fooling LiDAR Perception via Adversarial Trajectory PerturbationYiming Li Congcong Wen Felix Juefei-Xu Chen FengIEEE International Conference on Computer Vision
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[(on)-226.1(the)-226.1(point)-226.1(coordinates)-226.1(either)-227.1(physically)-226.1(or)-226.1(virtually)64.9(,)-231.1(while)]TJ
T*
0 Tc
[(our)-250(attack)-250(is)-250(realized)-250(by)-250(spoo\223ng)-250(the)-250(v)15(ehicle)-250(trajectories.)]TJ
/F1 1 Tf
T*
[(Affected)-317.9(Do)10(wnstr)18(eam)-318(T)92(asks.)]TJ
/F2 1 Tf
12.8328 0 TD
[(Theoretically)65.1(,)-335(e)25(v)15(ery)-318(do)25(wn-)]TJ
-12.8328 -1.2 TD
[(stream)-306(task)-306(that)-307(require)-305.9(LiD)40(AR)-306(point)-306(cloud)-306(as)-307(input)-307(could)]TJ
T*
[(be)-219(af)25(fected)-219(by)-219(the)-219(attacks)-219(proposed)-219(in)-219(this)-219(paper)55(.)-300(This)-219(could)]TJ
0 -1.2001 TD
[(include)-233(geometric)-234(vision)-233(tasks)-233.9(such)-233(as)-234(re)15(gistration,)-236(pose)-234(es-)]TJ
T*
[(timation,)-281.9(and)-275(mapping,)-281.9(as)-275(well)-276(as)-275(pattern)-275(recognition)-276(tasks)]TJ
T*
[(such)-242(as)-242(3D)-241(object)-242(detection)-242([)]TJ
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11.54 0 TD
(14)Tj
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(16)Tj
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(31)Tj
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(38)Tj
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(,)Tj
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(50)Tj
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(,)Tj
1 0 1 0 k
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(55)Tj
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[(],)-244(seman-)]TJ
-19.999 -1.2 TD
[(tic)-362(se)15(gmentation)-362([)]TJ
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(12)Tj
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(,)Tj
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(13)Tj
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[(],)-390(motion)-362(prediction)-362([)]TJ
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(17)Tj
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(43)Tj
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(,)Tj
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(53)Tj
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1 0 TD
(],)Tj
-23.131 -1.2 TD
[(and)-267(multiple)-266(object)-267(tracking)-266.9([)]TJ
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(39)Tj
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(40)Tj
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[(].)-361(While)-266(the)-267<93727374>-267(group)]TJ
-14.415 -1.2 TD
[(of)-303(tasks)-303(could)-303(be)-303(less)-303(se)25(v)15(erely)-303(af)25(fected)-303(by)-303(GNSS)-303(spoo\223ng)]TJ
T*
[(via)-331(data)-331(fusion)-329.9(as)-331(mentioned)-331(abo)15(v)15(e)0(,)-351(the)-331(second)-331(group)-331(has)]TJ
T*
[(higher)-259(vulnerability)65.1(,)-260(because)-259(small)-259(b)20(u)0(t)-258(calculated)-259(perturba-)]TJ
T*
[(tions)-386(in)-385(the)-386(point)-386(coordinates)-386(could)-385(af)25(fect)-386(deep)-386(netw)10(orks)]TJ
T*
[(as)-315(demonstrated)-314(in)-315(the)-314(abo)15(v)15(e)-315(related)-315(w)10(orks.)-503(In)-315(this)-315(paper)40(,)]TJ
T*
[(without)-219(loss)-220(of)-220(generality)65(,)-226(w)0(e)-220(choose)-219(to)-220(focus)-219(on)-220(the)-219(3D)-220(ob-)]TJ
T*
[(ject)-240(detection)-239(task)-240(to)-240(illustrate)-240(the)-239(se)25(v)15(erity)-240(of)-240(this)-240(backdoor)40(,)]TJ
T*
[(because)-333(miss)-333(detection)-332(of)-333(safety-critical)-333(objects)-333(surround-)]TJ
T*
[(ing)-250(a)-250(self-dri)25(ving)-250(car)-250(could)-250(be)-250(a)-250(matter)-250(of)-250(life)-250(or)-250(death.)]TJ
/F1 1 Tf
11.9552 0 0 11.9552 41.7121 425.0115 Tm
[(3.)-250(Motion)-250(Distortion)-250(in)-250(LiD)35(AR)]TJ
/F2 1 Tf
9.9626 0 0 9.9626 53.6671 406.0825 Tm
[(LiD)40(AR)-397(measurements)-397(are)-397(obtained)-397(along)-397(with)-398(the)-397(ro-)]TJ
-1.2 -1.2 TD
[(tation)-388(of)-387(its)-388(beams,)-422(so)-388(the)-387(measurements)-388(in)-387(a)-388(full)-388(sweep)]TJ
T*
[(are)-435(captured)-435.9(at)-435(dif)25(ferent)-436(timestamps,)-481(introducing)-436(motion)]TJ
T*
[(distortion)-399.9(which)-399.9(jeopardizes)-400(the)-400(v)15(ehicle)-400(perception.)-761(Au-)]TJ
T*
[(tonomous)-348(systems)-348(generally)-348(utilize)-347.9(LiD)39.9<415290>55.1(s)-348(location)-348(and)]TJ
T*
[(orientation)-252.9(obtained)-252.9(from)-254(the)-253(localization)-252.9(system)-252.9(to)-254(correct)]TJ
T*
[(distortion)-370([)]TJ
1 0 1 0 k
4.537 0 TD
(6)Tj
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(,)Tj
1 0 1 0 k
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(10)Tj
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1 0 1 0 k
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(29)Tj
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[(].)-668(Most)-370(LiD)40(AR-based)-370(datasets)-369([)]TJ
1 0 1 0 k
13.485 0 TD
(2)Tj
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1 0 1 0 k
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(7)Tj
/Cs8 cs 1 scn
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(])Tj
-23.381 -1.2001 TD
[(ha)20(v)15(e)-388(\223nished)-388(synchronization)-388(before)-389(release.)-724(Hence,)-423(the)]TJ
T*
[(performance)-221.9(of)-222(current)-222(3D)-221(perception)-222(algorithms)-222(in)-222(the)-222(dis-)]TJ
0 -1.2 TD
[(torted)-202(point)-202(cloud)-202(remains)-202(une)15(xplored.)-293.9(W)80(e)-203(brie\224y)-202(introduce)]TJ
T*
[(the)-250(nomenclature)-249.9(in)-250(this)-250(w)10(ork)-250(before)-250(detailed)-250(illustrations.)]TJ
/F1 1 Tf
1.2 -1.2 TD
[(W)75(orld)-335(Frame.)]TJ
/F2 1 Tf
6.6848 0 TD
[(W)80(e)-335(use)-335(a)-335(coordinate)-335(frame)]TJ
/F8 1 Tf
11.3127 0 TD
(W)Tj
/F2 1 Tf
1.4182 0 TD
[<9378>15(ed)-335(in)]TJ
-20.6157 -1.2 TD
[(the)-228(w)10(orld)-229(with)-228(the)-228(orthonormal)-229(basis)]TJ
/F9 1 Tf
14.859 0 TD
({)Tj
/F10 1 Tf
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(x)Tj
/F11 1 Tf
6.9738 0 0 6.9738 200.7744 261.1252 Tm
(W)Tj
/F8 1 Tf
9.9626 0 0 9.9626 209.8374 262.6201 Tm
(,)Tj
/F10 1 Tf
.4445 0 TD
(y)Tj
/F11 1 Tf
6.9738 0 0 6.9738 220.3124 261.1252 Tm
(W)Tj
/F8 1 Tf
9.9626 0 0 9.9626 229.3755 262.6201 Tm
(,)Tj
/F10 1 Tf
.4445 0 TD
(z)Tj
/F11 1 Tf
6.9738 0 0 6.9738 238.8955 261.1252 Tm
(W)Tj
/F9 1 Tf
9.9626 0 0 9.9626 247.9585 262.6201 Tm
(})Tj
/F2 1 Tf
.7283 0 TD
[(to)-228(de-)]TJ
-21.4303 -1.2001 TD
[(scribe)-250(the)-250(global)-249.9(displacement)-250(of)-250(the)-250(self-dri)25(ving)-250(car)55(.)]TJ
/F1 1 Tf
1.2 -1.2 TD
[(Object)-301.9(Frame.)]TJ
/F2 1 Tf
6.7379 0 TD
[(The)-301.9(car)-302(can)-302(be)-302(associated)-302(with)-302(a)-302(right-)]TJ
-7.9379 -1.2 TD
[(handed,)-333(orthonormal)-315.9(coordinate)-317(frame)-315.9(which)-316(can)-317(describe)]TJ
T*
[(its)-326(rigid)-326(body)-326(motion.)-538.9(Such)-326(a)-326(frame)-326(attached)-326(to)-326(the)-327(car)-326(is)]TJ
T*
[(called)-275(object)-276(frame)-275([)]TJ
1 0 1 0 k
8.3229 0 TD
(18)Tj
/Cs8 cs 1 scn
1 0 TD
[(].)-386(In)-275(the)-275(follo)25(wing,)-282(we)-275(use)]TJ
/F6 1 Tf
11.0194 0 TD
[(fr)15(ame)]TJ
/F2 1 Tf
2.5933 0 TD
(to)Tj
-22.9357 -1.2 TD
[(denote)-250(the)-250(object)-250(frame)-249.9(of)-250(the)-250(car)-250(at)-250(dif)25(ferent)-250(timestamps.)]TJ
/F1 1 Tf
1.2 -1.2001 TD
[(Sweep&P)10.1(ack)10(et.)]TJ
/F2 1 Tf
7.3534 0 TD
[(LiD)40(AR)-373(points)-374(in)-373(a)-374(complete)-373(360)]TJ
/F12 1 Tf
6.9738 0 0 6.9738 263.0165 182.549 Tm
<02>Tj
/F2 1 Tf
9.9626 0 0 9.9626 271.3175 178.933 Tm
(is)Tj
-23.0467 -1.2 TD
[(called)-368(a)]TJ
/F6 1 Tf
3.5683 0 TD
(sweep)Tj
/F2 1 Tf
2.444 0 TD
[(,)-398(and)-368(the)-368(points)-368(are)-369(emitted)-368(as)-368(a)-368(stream)-368(of)]TJ
/F6 1 Tf
-6.0124 -1.2 TD
[(pac)20(k)10(ets)]TJ
/F2 1 Tf
2.969 0 TD
[(,)-250(each)-250(co)15(v)15(ering)-250(a)-250(sector)-250(of)-250(the)-250(360)]TJ
/F12 1 Tf
6.9738 0 0 6.9738 207.6584 158.638 Tm
<02>Tj
/F2 1 Tf
9.9626 0 0 9.9626 214.7294 155.0229 Tm
[(co)15(v)15(erage)-250([)]TJ
1 0 1 0 k
4.162 0 TD
(10)Tj
/Cs8 cs 1 scn
1 0 TD
(].)Tj
/F1 1 Tf
10.9589 0 0 10.9589 41.7121 135.897 Tm
[(3.1.)-250(Linear)-250(P)20(ose)-250(Inter)10(polation)]TJ
/F2 1 Tf
9.9626 0 0 9.9626 53.6671 117.9639 Tm
.0001 Tc
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-1.2 -1.2 TD
0 Tc
[(synchronization)-204.9(with)-205(a)-205(sequence)-205(of)-205(real-w)10(orld)-205(LiD)40(AR)-205(point)]TJ
ET
0 scn
302.263 613.678 232.643 131.332 re
f
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1 i
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S
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7.5729 0 TD
(\(4\))Tj
-22.5477 -2.018 TD
(where)Tj
/F11 1 Tf
6.9738 0 0 6.9738 69.2841 639.4349 Tm
(n)Tj
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9.9626 0 0 9.9626 74.7071 635.0619 Tm
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<02>Tj
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Tj
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(n)Tj
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9.9626 0 0 9.9626 130.5472 635.0619 Tm
[(is)-325(the)-324(point)-325(cloud)-324(of)-325(pack)10(et)]TJ
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(n)Tj
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[(in)-325(the)]TJ
-21.3891 -1.2 TD
[(coordinate)-207.9(of)-208(frame)]TJ
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(n)Tj
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[(\(can)-208(be)-208(treated)-208(as)-208(the)-208(point)-208(cloud)-208(cap-)]TJ
-8.8181 -1.2 TD
[(tured)-296(at)-297(frame)]TJ
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[(\))-296(and)]TJ
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(T)Tj
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(n)Tj
0 -.9118 TD
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/F2 1 Tf
9.9626 0 0 9.9626 148.4683 611.1519 Tm
[(is)-296(the)-297(homogeneous)-296(transforma-)]TJ
-10.7157 -1.2 TD
[(tion)-250(from)-250(frame)]TJ
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[(to)-250(frame)]TJ
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3.61 0 TD
(A)Tj
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[(and)-250(is)-250(as)-250(follo)25(ws:)]TJ
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(T)Tj
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(T)Tj
/F11 1 Tf
6.9738 0 0 6.9738 146.1523 583.2058 Tm
(W)Tj
T*
(A)Tj
/F18 1 Tf
9.9626 0 0 9.9626 157.9833 579.0918 Tm
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(=\()Tj
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1.4444 0 TD
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(T)Tj
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6.9738 0 0 6.9738 180.3434 583.2058 Tm
(W)Tj
0 -.943 TD
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/F18 1 Tf
9.9626 0 0 9.9626 189.4064 579.0918 Tm
(\))Tj
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6.9738 0 0 6.9738 193.2814 583.2058 Tm
<8a>Tj
/F17 1 Tf
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(1)Tj
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9.9626 0 0 9.9626 203.9774 579.0918 Tm
(T)Tj
/F11 1 Tf
6.9738 0 0 6.9738 211.9474 583.2058 Tm
(W)Tj
0 -.943 TD
(A)Tj
/F8 1 Tf
9.9626 0 0 9.9626 223.5014 579.0918 Tm
(,)Tj
/F2 1 Tf
4.3006 0 TD
(\(5\))Tj
-22.5477 -2.0179 TD
(where)Tj
/F10 1 Tf
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(T)Tj
/F11 1 Tf
6.9738 0 0 6.9738 76.9841 562.6028 Tm
(W)Tj
0 -.8715 TD
(n)Tj
/F2 1 Tf
9.9626 0 0 9.9626 89.0112 558.9878 Tm
[(is)-297(from)-298(Eq.)-297(\()]TJ
0 .89 .94 .28 k
5.1969 0 TD
(3)Tj
/Cs8 cs 1 scn
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[(\))-298(and)]TJ
/F10 1 Tf
2.3724 0 TD
(T)Tj
/F11 1 Tf
6.9738 0 0 6.9738 177.3743 562.6028 Tm
(W)Tj
0 -.9118 TD
(A)Tj
/F2 1 Tf
9.9626 0 0 9.9626 189.4014 558.9878 Tm
[(can)-297(also)-298(be)-297(calculated)]TJ
-14.8243 -1.2 TD
[(gi)25(v)15(e)0(n)]TJ
/F10 1 Tf
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(t)Tj
/F11 1 Tf
6.9738 0 0 6.9738 71.3181 545.5377 Tm
(A)Tj
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(and)Tj
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(q)Tj
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6.9738 0 0 6.9738 105.0652 545.5377 Tm
(A)Tj
/F2 1 Tf
9.9626 0 0 9.9626 111.5552 547.0327 Tm
[(.)-588(Finally)65(,)-365(a)-343(set)-342(of)-343(motion-distorted)-342(point)]TJ
-7.0105 -1.2 TD
(clouds)Tj
/F11 1 Tf
6.9738 0 0 6.9738 71.0861 538.6927 Tm
(A)Tj
/F19 1 Tf
9.9626 0 0 9.9626 78.7242 537.6237 Tm
<06>Tj
/F10 1 Tf
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(P)Tj
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<02>Tj
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(R)Tj
/F17 1 Tf
6.9738 0 0 6.9738 108.0062 538.6927 Tm
(4)Tj
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Tj
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(m)Tj
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9.9626 0 0 9.9626 129.1332 535.0777 Tm
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[(is)-337.2(generated)-338.2(by)-337.2(aggre)14.8(gating)-338.2(multiple)]TJ
-8.7749 -1.2001 TD
0 Tc
[(LiD)40(AR)-250(pack)10(ets)-250(captured)-250(at)-250(dif)25(ferent)-250(frames:)]TJ
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(A)Tj
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<06>Tj
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/F17 1 Tf
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(0)Tj
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(P)Tj
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(;)Tj
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(1)Tj
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9.9626 0 0 9.9626 156.3223 503.0177 Tm
(P)Tj
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(...)Tj
/F18 1 Tf
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(;)Tj
/F11 1 Tf
6.9738 0 0 6.9738 181.3114 507.3897 Tm
(N)Tj
/F12 1 Tf
1.0121 0 TD
<8a>Tj
/F17 1 Tf
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(1)Tj
/F10 1 Tf
9.9626 0 0 9.9626 199.0654 503.0177 Tm
(P)Tj
/F18 1 Tf
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(])Tj
/F8 1 Tf
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(,)Tj
/F2 1 Tf
5.4394 0 TD
(\(6\))Tj
-22.5477 -2.0181 TD
(where)Tj
/F18 1 Tf
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([)Tj
/F9 1 Tf
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Tj
/F18 1 Tf
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(;)Tj
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Tj
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(;)Tj
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(...)Tj
/F18 1 Tf
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(;)Tj
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Tj
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(])Tj
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[(is)-436(the)-436(concatenation)-436(operation)-436(along)-435(the)]TJ
-6.8703 -1.3311 TD
[(ro)25(w)65(.)-310(It)-250(is)-250(noted)-250(that)]TJ
/F8 1 Tf
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(m)Tj
/F18 1 Tf
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(=)Tj
/F19 1 Tf
1.0555 .75 TD
<07>Tj
/F11 1 Tf
6.9738 0 0 6.9738 154.2083 474.6606 Tm
(N)Tj
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1.0121 0 TD
<8a>Tj
/F17 1 Tf
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(1)Tj
/F11 1 Tf
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(n)Tj
/F17 1 Tf
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(=0)Tj
/F8 1 Tf
9.9626 0 0 9.9626 173.6233 469.6516 Tm
(m)Tj
/F11 1 Tf
6.9738 0 0 6.9738 182.3703 468.1576 Tm
(n)Tj
/F2 1 Tf
9.9626 0 0 9.9626 187.7934 469.6516 Tm
(.)Tj
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10.9589 0 0 10.9589 41.7121 450.4515 Tm
[(3.3.)-250(Motion)-250(Compensation)-250(with)-250(Ego-P)19.9(ose)]TJ
/F2 1 Tf
9.9626 0 0 9.9626 53.6671 432.5185 Tm
[(Up)-423(to)-423(no)25(w)65(,)-466(we)-422(ha)20(v)15(e)-423(generated)-423(motion-distorted)-423(point)]TJ
-1.2 -1.2 TD
[(cloud)-412(as)-413(sho)25(wn)-412(in)-412(Eq.)]TJ
0 .89 .94 .28 k
9.842 0 TD
(6)Tj
/Cs8 cs 1 scn
.5 0 TD
[(,)-453(and)-412(then)-413(we)-412(can)-412(represent)-413(the)]TJ
-10.342 -1.2 TD
[(motion)-276(compensation)-275(using)-275.9(the)-275(mathematical)-276(formula,)]TJ
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22.2417 0 TD
(i.e)Tj
/F2 1 Tf
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(.,)Tj
-23.2137 -1.2 TD
[(a)-433(LiD)40(AR)-433(sweep)-433(can)-433(be)-433(written)-433(as)-433(a)-433(dif)25(ferentiable)-433(func-)]TJ
T*
[(tion)-285(of)-286(the)-285(v)15(ehicle)-286(trajectory)]TJ
6.9738 0 0 6.9738 155.8623 386.7724 Tm
0 .89 .94 .28 k
(*)Tj
9.9626 0 0 9.9626 159.8473 384.6984 Tm
/Cs8 cs 1 scn
[(.)-416(The)-286(undistorted)-285(point)-286(cloud)]TJ
/F11 1 Tf
6.9738 0 0 6.9738 41.7121 376.3584 Tm
(A)Tj
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9.9626 0 0 9.9626 48.2021 372.7424 Tm
(P)Tj
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<02>Tj
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(R)Tj
/F17 1 Tf
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(4)Tj
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Tj
/F11 1 Tf
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(m)Tj
/F2 1 Tf
9.9626 0 0 9.9626 95.5342 372.7424 Tm
[(is)-237(obtained)-237(by)-238(transforming)-237(point)-237(clouds)-237(from)]TJ
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(frame)Tj
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(0)Tj
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<02>Tj
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(N)Tj
/F9 1 Tf
1.1347 0 TD
<8a>Tj
/F18 1 Tf
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(1)Tj
/F2 1 Tf
.75 0 TD
[(back)-250(to)-250(the)-250(coordinate)-250(of)-250(frame)]TJ
/F8 1 Tf
12.774 0 TD
(A)Tj
/F2 1 Tf
.75 0 TD
(:)Tj
/F11 1 Tf
6.9738 0 0 6.9738 74.9391 345.0553 Tm
(A)Tj
/F10 1 Tf
9.9626 0 0 9.9626 81.4282 340.6833 Tm
(P)Tj
/F18 1 Tf
1.0639 0 TD
.2788 Tc
(=[)Tj
/F10 1 Tf
1.3334 0 TD
0 Tc
(T)Tj
/F11 1 Tf
6.9738 0 0 6.9738 113.2812 344.7963 Tm
(A)Tj
/F17 1 Tf
0 -.943 TD
(0)Tj
1.1687 .9801 TD
(0)Tj
/F10 1 Tf
9.9626 0 0 9.9626 125.9002 340.6833 Tm
(P)Tj
/F18 1 Tf
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(;)Tj
/F10 1 Tf
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(T)Tj
/F11 1 Tf
6.9738 0 0 6.9738 146.1303 344.7963 Tm
(A)Tj
/F17 1 Tf
0 -.943 TD
(1)Tj
1.1687 .9801 TD
(1)Tj
/F10 1 Tf
9.9626 0 0 9.9626 158.7493 340.6833 Tm
(P)Tj
/F18 1 Tf
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(;)Tj
/F8 1 Tf
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(...)Tj
/F18 1 Tf
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0 Tc
(;)Tj
/F10 1 Tf
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(T)Tj
/F11 1 Tf
6.9738 0 0 6.9738 191.7094 344.7963 Tm
(A)Tj
0 -.943 TD
(N)Tj
/F12 1 Tf
1.0121 0 TD
<8a>Tj
/F17 1 Tf
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(1)Tj
/F11 1 Tf
.879 .9801 TD
(N)Tj
/F12 1 Tf
1.0121 0 TD
<8a>Tj
/F17 1 Tf
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(1)Tj
/F10 1 Tf
9.9626 0 0 9.9626 228.8784 340.6833 Tm
(P)Tj
/F18 1 Tf
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(])Tj
/F8 1 Tf
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(,)Tj
/F2 1 Tf
2.447 0 TD
(\(7\))Tj
-22.5477 -2.0181 TD
(where)Tj
/F10 1 Tf
2.7486 0 TD
(T)Tj
/F11 1 Tf
6.9738 0 0 6.9738 77.0652 324.1943 Tm
(A)Tj
0 -.8717 TD
(n)Tj
/F2 1 Tf
9.9626 0 0 9.9626 86.6002 320.5782 Tm
[(is)-306(the)-305(transformation)-306(from)-305(frame)]TJ
/F8 1 Tf
13.581 0 TD
(A)Tj
/F2 1 Tf
1.0555 0 TD
[(to)-306(frame)]TJ
/F8 1 Tf
3.7212 0 TD
(n)Tj
/F2 1 Tf
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(,)Tj
-23.4637 -1.2 TD
[(which)-250(is)-250(the)-250(in)40(v)15(erse)-250(matrix)-250(of)]TJ
/F10 1 Tf
12.1099 0 TD
(T)Tj
/F11 1 Tf
6.9738 0 0 6.9738 170.3283 312.2383 Tm
(n)Tj
0 -.9118 TD
(A)Tj
/F2 1 Tf
9.9626 0 0 9.9626 179.3093 308.6233 Tm
[(in)-250(Eq.)-250(\()]TJ
0 .89 .94 .28 k
2.972 0 TD
(5)Tj
/Cs8 cs 1 scn
.5 0 TD
(\).)Tj
/F1 1 Tf
11.9552 0 0 11.9552 41.7121 285.4382 Tm
[(4.)-250(Adv)10(ersarial)-250(T)74(rajectory)-250(P)20(erturbation)]TJ
10.9589 0 0 10.9589 41.7121 266.5092 Tm
[(4.1.)-250(P)20(oint)-250(Cloud)-250(Repr)18(esentation)-250(w)70(.)0(r)100(.t.)-361(T)74(rajectory)]TJ
/F2 1 Tf
9.9626 0 0 9.9626 53.6671 248.5762 Tm
[(The)-413(studies)-413(of)-413(object-le)25(v)15(e)0(l)-413(point)-413(cloud)-413(generally)-413(treat)]TJ
-1.2 -1.2 TD
[(point)-206(cloud)-207(as)-206(a)-207(set)-206(of)-207(3D)-206(points)-206(sampled)-207(from)-206(mesh)-207(models)]TJ
T*
[(instantaneously)-351.9([)]TJ
1 0 1 0 k
6.907 0 TD
(9)Tj
/Cs8 cs 1 scn
.5 0 TD
(,)Tj
1 0 1 0 k
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(44)Tj
/Cs8 cs 1 scn
.9999 0 TD
[(].)-616(In)-352(autonomous)-352(dri)25(ving,)-378(ho)25(we)25(v)15(e)0(r)40(,)]TJ
-9.009 -1.2 TD
[(the)-413(3D)-413(points)-413(are)-413(captured)-413(in)-413(a)-413(dynamic)-413(setting)-413(through)]TJ
T*
[(raycasting,)-409.9(thus)-377(LiD)40(AR)-378(not)-378(only)-378(records)-378(points\220)]TJ
/F18 1 Tf
20.4402 0 TD
(\()Tj
/F8 1 Tf
.389 0 TD
.0005 Tc
[(x,)-167.3(y)-35.8(,)-166.3(z)]TJ
/F18 1 Tf
2.4956 0 TD
0 Tc
(\))Tj
/F2 1 Tf
-23.3248 -1.2001 TD
[(coordinates,)-240.9(b)20(u)0(t)-239(also)-239(the)-239(timestamps)-239(at)-239(which)-239(the)-239(points)-239(are)]TJ
T*
[(captured.)-648.9(T)80(o)-363(this)-363(end,)-391(we)-363(propose)-363(a)-363(n)0(o)15(v)15(e)0(l)-363(representation)]TJ
T*
[(of)-372(point)-371(cloud)-372(as)-371(a)-372(function)-371(of)-372(v)15(ehicle)-371(trajectory)-372(through)]TJ
T*
[(Eq.)-250(\()]TJ
0 .89 .94 .28 k
1.944 0 TD
(7)Tj
/Cs8 cs 1 scn
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[(\))-250(which)-250(can)-250(be)-250(written)-250(as)-250(a)-250(general)-250(form:)]TJ
/F10 1 Tf
1.0455 -2.018 TD
(P)Tj
/F18 1 Tf
1.0639 0 TD
(=)Tj
/F8 1 Tf
1.0555 0 TD
(f)Tj
/F18 1 Tf
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(\()Tj
/F10 1 Tf
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(T)Tj
/F8 1 Tf
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.1678 Tc
(,L)Tj
/F18 1 Tf
1.125 0 TD
0 Tc
(\()Tj
/F11 1 Tf
6.9738 0 0 6.9738 130.4672 137.2029 Tm
(n)Tj
/F10 1 Tf
9.9626 0 0 9.9626 135.8903 132.8299 Tm
(P)Tj
/F18 1 Tf
.7861 0 TD
.0009 Tc
(\)\))Tj
/F8 1 Tf
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(,n)Tj
/F18 1 Tf
1.8224 0 TD
.2788 Tc
(=0)Tj
/F8 1 Tf
1.5556 0 TD
0 Tc
(,)Tj
/F18 1 Tf
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(1)Tj
/F8 1 Tf
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.0008 Tc
[(,)-167(...,)-166(N)]TJ
/F9 1 Tf
2.8569 0 TD
0 Tc
<8a>Tj
/F18 1 Tf
1 0 TD
(1)Tj
/F8 1 Tf
.75 0 TD
(,)Tj
/F2 1 Tf
2.6012 0 TD
(\(8\))Tj
ET
/Cs8 CS 1 SCN
0 J 0 j .398 w 10 M [] 0 d
/GS2 gs
1 i
q 1 0 0 1 41.712 124.888 cm 0 0 m
94.499 0 l
S
Q
BT
5.9776 0 0 5.9776 52.5711 116.9649 Tm
(*)Tj
7.9701 0 0 7.9701 56.0581 115.4739 Tm
[(In)-384(this)-383(w)10(ork,)-417(the)-384(translation)-383(and)-384(the)-383(orientation)-384(are)-384(collecti)25(v)15(ely)-384(re-)]TJ
-1.8 -1.1876 TD
[(ferred)-250.1(to)-250(as)-250(\215trajectory\216.)]TJ
9.9626 0 0 9.9626 300.4626 735.0471 Tm
(where)Tj
/F10 1 Tf
2.8217 0 TD
(P)Tj
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1.3023 0 TD
<02>Tj
/F16 1 Tf
1.1828 0 TD
(R)Tj
/F17 1 Tf
6.9738 0 0 6.9738 360.5267 738.6631 Tm
(4)Tj
/F12 1 Tf
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Tj
/F11 1 Tf
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(m)Tj
/F2 1 Tf
9.9626 0 0 9.9626 382.0657 735.0471 Tm
[(is)-379(a)-378(full)-379(sweep)-379(with)]TJ
/F8 1 Tf
8.6704 0 TD
(m)Tj
/F2 1 Tf
1.2568 0 TD
[(points,)-411(and)-379(is)]TJ
-18.1182 -1.2 TD
[(represented)-295.9(as)-296(a)-295(dif)25(ferentiable)-296(function)]TJ
/F8 1 Tf
16.0601 0 TD
(f)Tj
/F2 1 Tf
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[(in)-296(terms)-296(of)-295(v)15(ehi-)]TJ
-16.9532 -1.2 TD
[(cle)-358(trajectory)]TJ
/F10 1 Tf
5.7138 0 TD
(T)Tj
/F9 1 Tf
1.2775 0 TD
<02>Tj
/F16 1 Tf
1.1443 0 TD
(R)Tj
/F11 1 Tf
6.9738 0 0 6.9738 388.7087 714.7521 Tm
(N)Tj
/F12 1 Tf
1.0122 0 TD
Tj
/F17 1 Tf
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(4)Tj
/F12 1 Tf
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Tj
/F17 1 Tf
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/F18 1 Tf
1.2501 0 TD
.5568 Tc
(=[)Tj
/F21 1 Tf
1.6119 0 TD
0 Tc
<03>Tj
/F30 1 Tf
6.9738 0 0 6.9738 210.0934 652.1429 Tm
(x)Tj
/F8 1 Tf
9.9626 0 0 9.9626 215.7344 653.6379 Tm
(,)Tj
/F21 1 Tf
.4444 0 TD
<03>Tj
/F30 1 Tf
6.9738 0 0 6.9738 226.7344 652.1429 Tm
(y)Tj
/F8 1 Tf
9.9626 0 0 9.9626 232.2125 653.6379 Tm
(,)Tj
/F21 1 Tf
.4444 0 TD
<03>Tj
/F30 1 Tf
6.9738 0 0 6.9738 243.2125 652.1429 Tm
(z)Tj
/F18 1 Tf
9.9626 0 0 9.9626 248.3975 653.6379 Tm
(])Tj
/F2 1 Tf
.6781 0 TD
[(is)-400(the)]TJ
-21.4242 -1.2001 TD
[(polynomial)-274.9(coef)25(\223cients.)-385.9(No)25(w)]TJ
/F21 1 Tf
12.2463 0 TD
<02>Tj
/F2 1 Tf
.8356 0 TD
[(is)-275(a)-276(dif)25(ferentiable)-275(function)]TJ
-13.0819 -1.2 TD
(of)Tj
/F21 1 Tf
1.1049 0 TD
<03>Tj
/F2 1 Tf
.6938 0 TD
-.0001 Tc
[(,)-277.1(and)-272.1(the)-272.1(gradient)-272.1(will)-272.1(be)-272.1(back-propagated)-272.1(to)]TJ
/F21 1 Tf
18.3109 0 TD
0 Tc
<03>Tj
/F2 1 Tf
.6937 0 TD
[(,)-277(s)0(o)-272(the)]TJ
-20.8033 -1.2 TD
[(adv)15(ersarial)-250(coef)25(\223cients)-249.9(are)-250(calculated)-249.9(by:)]TJ
/F22 1 Tf
8.9664 0 0 8.9664 48.3121 592.9928 Tm
<03>Tj
/F14 1 Tf
5.9776 0 0 5.9776 54.6751 597.2998 Tm
(t)Tj
/F23 1 Tf
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(+1)Tj
/F24 1 Tf
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0 Tc
(=)Tj
/F25 1 Tf
1.0848 0 TD
(P)Tj
/F26 1 Tf
.9707 1.1077 TD
<02>Tj
/F22 1 Tf
.6137 -1.1077 TD
<03>Tj
/F14 1 Tf
5.9776 0 0 5.9776 100.1232 597.2998 Tm
(t)Tj
/F25 1 Tf
8.9664 0 0 8.9664 105.5202 592.9928 Tm
<8a>Tj
/F27 1 Tf
1.0277 0 TD
<02>Tj
/F24 1 Tf
.8308 0 TD
.0007 Tc
(sgn)Tj
/F26 1 Tf
1.6615 1.1077 TD
0 Tc
<02>Tj
/F25 1 Tf
.6138 -1.1077 TD
<02>Tj
/F28 1 Tf
5.9776 0 0 5.9776 150.2653 591.9298 Tm
<03>Tj
/F26 1 Tf
8.9664 0 0 8.9664 157.5963 595.2588 Tm
<03>Tj
/F25 1 Tf
-.2112 -.2527 TD
(L)Tj
/F24 1 Tf
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(\()Tj
/F27 1 Tf
.3997 0 TD
.0291 Tc
[<032c>-142.4(f)]TJ
/F24 1 Tf
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0 Tc
(\()Tj
/F29 1 Tf
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(T)Tj
/F24 1 Tf
1.0516 0 TD
(+)Tj
/F22 1 Tf
1.0277 0 TD
<02>Tj
/F27 1 Tf
.5749 0 TD
.1715 Tc
(,L)Tj
/F24 1 Tf
1.1562 0 TD
0 Tc
(\()Tj
/F14 1 Tf
5.9776 0 0 5.9776 221.0804 597.2998 Tm
(n)Tj
/F29 1 Tf
8.9664 0 0 8.9664 226.1784 592.9928 Tm
(P)Tj
/F24 1 Tf
.808 0 TD
.0007 Tc
(\)\))Tj
/F27 1 Tf
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0 Tc
(,)Tj
/F29 1 Tf
.4568 0 TD
(y)Tj
/F24 1 Tf
.641 0 TD
(\))Tj
/F26 1 Tf
.3997 1.1077 TD
.0008 Tc
<0404>Tj
/F27 1 Tf
1.6488 -1.1077 TD
0 Tc
(,)Tj
/F2 1 Tf
-.6444 -1.4432 TD
(\(13\))Tj
9.9626 0 0 9.9626 41.7121 568.0978 Tm
[(hence,)-439(we)-401(only)-401(need)-402(to)]TJ
/F6 1 Tf
10.2359 0 TD
[(manipulate)-401(se)15(ver)15(al)-401(k)10(e)30(y)-402(points)-401(to)]TJ
-10.2359 -1.2 TD
[(bend)-328(a)-329(polynomial-par)15(ameterized)-328(tr)15(ajectory)]TJ
/F2 1 Tf
18.2811 0 TD
[(which)-327.9(can)-329(be)]TJ
-18.2811 -1.2 TD
[(easily)-250(achie)25(v)15(e)0(d)-250(i)0(n)-250(reality)65(,)-250(achie)25(ving)-250(a)-250(real-time)-250(attack.)]TJ
/F1 1 Tf
10.9589 0 0 10.9589 41.7121 521.4147 Tm
[(4.3.)-250(Attack)-250(with)-250(Regularization)]TJ
9.9626 0 0 9.9626 53.6671 502.5337 Tm
[(Regularization)-268.9(on)-270(T)74(rajectory)70(.)]TJ
/F2 1 Tf
13.0114 0 TD
[(T)80(o)-269(realize)-270(an)-269(impercep-)]TJ
-14.2114 -1.2 TD
[(tible)-244(attack,)-245(we)-243(propose)-244(a)-243(trajectory)-244(smoothness)-244(re)15(gularizer)]TJ
T*
[(to)-195(repress)-195(the)-196(total)-195(v)25(ariation)-195(in)-195(v)15(ehicle)-196(poses.)-291(Gi)25(v)15(e)0(n)-195(a)-196(trajec-)]TJ
T*
[(tory)-268(perturbation)]TJ
/F21 1 Tf
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<02>Tj
/F9 1 Tf
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<02>Tj
/F16 1 Tf
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(R)Tj
/F11 1 Tf
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(N)Tj
/F12 1 Tf
1.0121 0 TD
Tj
/F17 1 Tf
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(4)Tj
/F12 1 Tf
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Tj
/F17 1 Tf
.8928 0 TD
(4)Tj
/F2 1 Tf
9.9626 0 0 9.9626 165.3993 466.6676 Tm
[(,)-273(w)0(e)-269(calculate)-268(the)-269(dif)25(ference)]TJ
-12.4151 -1.2 TD
[(in)-229(translation)-230(and)-229(rotation)-229(separately)65(.)-303(The)-230(smoothness)]TJ
/F9 1 Tf
21.6949 0 TD
(S)Tj
/F18 1 Tf
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(\()Tj
/F21 1 Tf
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<02>Tj
/F18 1 Tf
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(\))Tj
/F2 1 Tf
-23.3248 -1.2 TD
[(equals)-250(to)-250(the)-250(follo)25(wing)-250(formula:)]TJ
/F27 1 Tf
8.9664 0 0 8.9664 41.7121 411.9675 Tm
<04>Tj
/F31 1 Tf
5.9776 0 0 5.9776 47.0881 410.9705 Tm
(t)Tj
/F24 1 Tf
8.9664 0 0 8.9664 50.8351 411.9675 Tm
(\()Tj
/F14 1 Tf
5.9776 0 0 5.9776 54.4181 423.2085 Tm
(N)Tj
/F32 1 Tf
1.075 0 TD
<8a>Tj
/F23 1 Tf
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(1)Tj
/F26 1 Tf
8.9664 0 0 8.9664 55.6801 420.4855 Tm
<05>Tj
/F14 1 Tf
5.9776 0 0 5.9776 55.4141 401.6115 Tm
(n)Tj
/F23 1 Tf
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.0002 Tc
(=1)Tj
/F24 1 Tf
8.9664 0 0 8.9664 70.2531 411.9675 Tm
0 Tc
(\()Tj
/F26 1 Tf
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<03>Tj
/F29 1 Tf
.0554 -.2043 TD
(t)Tj
/F24 1 Tf
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(\()Tj
/F27 1 Tf
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(n)Tj
/F24 1 Tf
.62 0 TD
(\))Tj
/F25 1 Tf
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<8a>Tj
/F26 1 Tf
.8376 .2043 TD
<03>Tj
/F29 1 Tf
.0554 -.2043 TD
(t)Tj
/F24 1 Tf
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(\()Tj
/F27 1 Tf
.3997 0 TD
(n)Tj
/F25 1 Tf
.7137 0 TD
<8a>Tj
/F24 1 Tf
.893 0 TD
.0008 Tc
(1\)\))Tj
/F14 1 Tf
5.9776 0 0 5.9776 133.4283 416.2745 Tm
0 Tc
(p)Tj
/F24 1 Tf
8.9664 0 0 8.9664 137.7673 411.9675 Tm
(\))Tj
/F33 1 Tf
4.9813 0 0 4.9813 142.6933 418.8125 Tm
(1)Tj
ET
/Cs8 CS 1 SCN
0 J 0 j .29 w 10 M [] 0 d
/GS2 gs
1 i
q 1 0 0 1 142.546 417.961 cm 0 0 m
3.685 0 l
S
Q
BT
/F20 1 Tf
4.9813 0 0 4.9813 142.5463 413.9005 Tm
(p)Tj
/F24 1 Tf
8.9664 0 0 8.9664 148.7643 411.9675 Tm
(+)Tj
/F27 1 Tf
.893 0 TD
<04>Tj
/F31 1 Tf
5.9776 0 0 5.9776 162.1473 410.9545 Tm
(R)Tj
/F24 1 Tf
8.9664 0 0 8.9664 168.7393 411.9675 Tm
(\()Tj
/F14 1 Tf
5.9776 0 0 5.9776 172.3233 423.2085 Tm
(N)Tj
/F32 1 Tf
1.075 0 TD
<8a>Tj
/F23 1 Tf
.9629 0 TD
(1)Tj
/F26 1 Tf
8.9664 0 0 8.9664 173.5853 420.4855 Tm
<05>Tj
/F14 1 Tf
5.9776 0 0 5.9776 173.3183 401.6115 Tm
(n)Tj
/F23 1 Tf
.7697 0 TD
.0002 Tc
(=1)Tj
/F24 1 Tf
8.9664 0 0 8.9664 188.1584 411.9675 Tm
0 Tc
(\()Tj
/F26 1 Tf
.5575 .2555 TD
<03>Tj
/F29 1 Tf
-.1578 -.2555 TD
(R)Tj
/F24 1 Tf
.8866 0 TD
(\()Tj
/F27 1 Tf
.3997 0 TD
(n)Tj
/F24 1 Tf
.62 0 TD
(\))Tj
/F25 1 Tf
.4934 0 TD
<8a>Tj
/F26 1 Tf
1.0508 .2555 TD
<03>Tj
/F29 1 Tf
-.1578 -.2555 TD
(R)Tj
/F24 1 Tf
.8868 0 TD
(\()Tj
/F27 1 Tf
.3996 0 TD
(n)Tj
/F25 1 Tf
.7137 0 TD
<8a>Tj
/F24 1 Tf
.893 0 TD
.0008 Tc
(1\)\))Tj
/F14 1 Tf
5.9776 0 0 5.9776 258.9825 416.2745 Tm
0 Tc
(p)Tj
/F24 1 Tf
8.9664 0 0 8.9664 263.3205 411.9675 Tm
(\))Tj
/F33 1 Tf
4.9813 0 0 4.9813 268.2475 418.8125 Tm
(1)Tj
ET
q 1 0 0 1 268.1 417.961 cm 0 0 m
3.685 0 l
S
Q
BT
/F20 1 Tf
4.9813 0 0 4.9813 268.0995 413.9005 Tm
(p)Tj
/F27 1 Tf
8.9664 0 0 8.9664 275.4025 411.9675 Tm
(,)Tj
/F2 1 Tf
-1.3805 -2.0592 TD
(\(14\))Tj
9.9626 0 0 9.9626 41.7121 381.5484 Tm
(where)Tj
/F8 1 Tf
2.6839 0 TD
<05>Tj
/F34 1 Tf
6.9738 0 0 6.9738 74.2631 380.0544 Tm
(t)Tj
/F2 1 Tf
9.9626 0 0 9.9626 80.6841 381.5484 Tm
(and)Tj
/F8 1 Tf
1.685 0 TD
<05>Tj
/F34 1 Tf
6.9738 0 0 6.9738 103.2822 380.0544 Tm
(R)Tj
/F2 1 Tf
9.9626 0 0 9.9626 112.8752 381.5484 Tm
[(are)-241(used)-241(to)-241(balance)-241(the)-241(in\224uence)-241(of)-241(trans-)]TJ
-7.143 -1.2 TD
[(lations)-390(and)-391(rotations,)]TJ
/F8 1 Tf
9.0673 0 TD
(p)Tj
/F2 1 Tf
.8936 0 TD
[(denotes)-389.9(the)-391(norm)-389.9(\()]TJ
/F8 1 Tf
7.8922 0 TD
(p)Tj
/F18 1 Tf
1.041 0 TD
.5388 Tc
(=2)Tj
/F2 1 Tf
2.2061 0 TD
0 Tc
[(in)-390(this)]TJ
-21.1003 -1.2 TD
[(w)10(ork\).)-573(W)40(ith)-337(trajectory)-338(smoothness)-338(re)15(gularization,)-359(the)-338(ob-)]TJ
T*
[(jecti)25(v)15(e)-250(of)-250(adv)15(ersarial)-250(attacks)-250(is)-250(as)-250(follo)25(ws:)]TJ
/F18 1 Tf
2.3837 -2.3905 TD
.0006 Tc
(min)Tj
/F19 1 Tf
2.0393 .2527 TD
0 Tc
<06>Tj
/F9 1 Tf
-.206 -.2527 TD
(L)Tj
/F18 1 Tf
.6897 0 TD
(\()Tj
/F8 1 Tf
.389 0 TD
.0284 Tc
[<022c>-138.4(f)]TJ
/F18 1 Tf
1.5389 0 TD
0 Tc
(\()Tj
/F10 1 Tf
.3889 0 TD
(T)Tj
/F18 1 Tf
1.0222 0 TD
(+)Tj
/F21 1 Tf
1 0 TD
<02>Tj
/F8 1 Tf
.5604 0 TD
.1678 Tc
(,L)Tj
/F18 1 Tf
1.125 0 TD
0 Tc
(\()Tj
/F11 1 Tf
6.9738 0 0 6.9738 154.4883 326.2404 Tm
(n)Tj
/F10 1 Tf
9.9626 0 0 9.9626 159.9113 321.8672 Tm
(P)Tj
/F18 1 Tf
.7861 0 TD
.0009 Tc
(\)\))Tj
/F8 1 Tf
.7778 0 TD
0 Tc
(,)Tj
/F10 1 Tf
.4445 0 TD
(y)Tj
/F18 1 Tf
.6229 0 TD
.2229 Tc
(\)+)Tj
/F8 1 Tf
1.611 0 TD
0 Tc
<05>Tj
/F11 1 Tf
6.9738 0 0 6.9738 207.9884 320.3733 Tm
(s)Tj
/F9 1 Tf
9.9626 0 0 9.9626 212.2464 321.8672 Tm
(S)Tj
/F18 1 Tf
.6805 0 TD
(\()Tj
/F21 1 Tf
.389 0 TD
<02>Tj
/F18 1 Tf
.5604 0 TD
(\))Tj
/F8 1 Tf
.6389 0 TD
(,)Tj
/F2 1 Tf
2.6615 0 TD
(\(15\))Tj
-22.0477 -2.3905 TD
(where)Tj
/F8 1 Tf
2.748 0 TD
<05>Tj
/F11 1 Tf
6.9738 0 0 6.9738 74.9012 296.5572 Tm
(s)Tj
/F2 1 Tf
9.9626 0 0 9.9626 82.1982 298.0512 Tm
[(is)-305(for)-305(adjusting)-305(the)-305(smoothness)-305(de)15(gree.)-475(By)-305(opti-)]TJ
-4.0638 -1.2 TD
[(mizing)-317(o)15(v)15(e)0(r)-318(Eq.)-317(\()]TJ
0 .89 .94 .28 k
7.171 0 TD
(15)Tj
/Cs8 cs 1 scn
.9999 0 TD
[(\),)-335(we)-317(aim)-318(to)-317<936e64>-318(an)-317(imperceptible)-318(ad-)]TJ
-8.171 -1.2 TD
[(v)15(ersarial)-250(perturbation)]TJ
/F21 1 Tf
8.816 0 TD
<02>Tj
/F2 1 Tf
.8103 0 TD
[(with)-250(desirable)-250(smoothness.)]TJ
/F1 1 Tf
-8.4263 -1.2953 TD
[(Regularization)-225.9(on)-225(P)20(oint)-226(Cloud.)]TJ
/F2 1 Tf
13.4874 0 TD
[(W)80(e)-226(also)-225(propose)-226(a)-225(r)0(e)15(g)0(-)]TJ
-14.6874 -1.2 TD
[(ularizer)-337.9(on)-338(point)-337(cloud)-338(to)-338(repress)-338(its)-338(change.)-573(W)80(e)-338(use)-338(tw)10(o)]TJ
T*
[(metrics)-311(to)-311(measure)-311(the)-311(v)25(ariation)-311(of)-311(point)-311(cloud)-311(before)-311(and)]TJ
0 -1.2001 TD
[(after)-243(distortion,)]TJ
/F6 1 Tf
6.4037 0 TD
(i.e)Tj
/F2 1 Tf
.972 0 TD
(.,)Tj
/F8 1 Tf
.7445 0 TD
<04>Tj
/F11 1 Tf
6.9738 0 0 6.9738 126.7612 223.8771 Tm
(p)Tj
/F2 1 Tf
9.9626 0 0 9.9626 133.7893 225.3711 Tm
[(norm)-243(and)-243(Chamfer)-244(distance)-242.9([)]TJ
1 0 1 0 k
11.637 0 TD
(5)Tj
/Cs8 cs 1 scn
.5 0 TD
[(].)-307(Us-)]TJ
-21.3793 -1.2 TD
(ing)Tj
/F9 1 Tf
1.5169 0 TD
(D)Tj
/F11 1 Tf
6.9738 0 0 6.9738 64.5091 211.9221 Tm
(L)Tj
/F18 1 Tf
9.9626 0 0 9.9626 70.4731 213.4161 Tm
(\()Tj
/F21 1 Tf
.389 0 TD
<02>Tj
/F18 1 Tf
.5604 0 TD
(\))Tj
/F2 1 Tf
.6277 0 TD
[(to)-239(denote)]TJ
/F8 1 Tf
3.9219 0 TD
<04>Tj
/F11 1 Tf
6.9738 0 0 6.9738 129.4082 211.9221 Tm
(p)Tj
/F2 1 Tf
9.9626 0 0 9.9626 136.3933 213.4161 Tm
(distance,)Tj
/F9 1 Tf
3.7681 0 TD
(D)Tj
/F11 1 Tf
6.9738 0 0 6.9738 181.6183 211.9221 Tm
(C)Tj
/F18 1 Tf
9.9626 0 0 9.9626 188.3194 213.4161 Tm
(\()Tj
/F21 1 Tf
.389 0 TD
<02>Tj
/F18 1 Tf
.5604 0 TD
(\))Tj
/F2 1 Tf
.6278 0 TD
[(to)-239(denote)-239(Chamfer)]TJ
-16.2929 -1.2 TD
[(distance)-380(before)-379.9(and)-380(after)-381(perturbation)]TJ
/F21 1 Tf
15.8957 0 TD
<02>Tj
/F2 1 Tf
.5604 0 TD
[(.)-701(The)-380(adv)15(ersarial)]TJ
-16.456 -1.2 TD
[(objecti)25(v)15(e)-250(with)-250(re)15(gularization)-250(is)-250(de\223ned)-250(as:)]TJ
/F18 1 Tf
2.3049 -2.3905 TD
.0006 Tc
(min)Tj
/F19 1 Tf
2.0393 .2529 TD
0 Tc
<06>Tj
/F9 1 Tf
-.206 -.2529 TD
(L)Tj
/F18 1 Tf
.6898 0 TD
(\()Tj
/F8 1 Tf
.3889 0 TD
.0284 Tc
[<022c>-138.4(f)]TJ
/F18 1 Tf
1.5389 0 TD
0 Tc
(\()Tj
/F10 1 Tf
.389 0 TD
(T)Tj
/F18 1 Tf
1.0222 0 TD
(+)Tj
/F21 1 Tf
.9999 0 TD
<02>Tj
/F8 1 Tf
.5605 0 TD
.1678 Tc
(,L)Tj
/F18 1 Tf
1.125 0 TD
0 Tc
(\()Tj
/F11 1 Tf
6.9738 0 0 6.9738 153.7043 170.063 Tm
(n)Tj
/F10 1 Tf
9.9626 0 0 9.9626 159.1273 165.69 Tm
(P)Tj
/F18 1 Tf
.7861 0 TD
.0009 Tc
(\)\))Tj
/F8 1 Tf
.7777 0 TD
0 Tc
(,)Tj
/F10 1 Tf
.4445 0 TD
(y)Tj
/F18 1 Tf
.6229 0 TD
.2229 Tc
(\)+)Tj
/F8 1 Tf
1.6111 0 TD
0 Tc
<05>Tj
/F11 1 Tf
6.9738 0 0 6.9738 207.2034 164.196 Tm
(d)Tj
/F9 1 Tf
9.9626 0 0 9.9626 211.8494 165.69 Tm
(D)Tj
/F18 1 Tf
.7992 0 TD
(\()Tj
/F21 1 Tf
.3889 0 TD
<02>Tj
/F18 1 Tf
.5604 0 TD
(\))Tj
/F8 1 Tf
.6389 0 TD
(,)Tj
/F2 1 Tf
2.5828 0 TD
(\(16\))Tj
-22.0477 -2.3904 TD
(where)Tj
/F9 1 Tf
2.6749 0 TD
(D)Tj
/F18 1 Tf
.7992 0 TD
(\()Tj
/F21 1 Tf
.3889 0 TD
<02>Tj
/F18 1 Tf
.5605 0 TD
(\))Tj
/F2 1 Tf
.6208 0 TD
[(can)-231.9(be)-232(either)]TJ
/F9 1 Tf
5.3047 0 TD
(D)Tj
/F11 1 Tf
6.9738 0 0 6.9738 152.5003 140.3799 Tm
(L)Tj
/F18 1 Tf
9.9626 0 0 9.9626 158.4643 141.8749 Tm
(\()Tj
/F21 1 Tf
.3889 0 TD
<02>Tj
/F18 1 Tf
.5605 0 TD
(\))Tj
/F2 1 Tf
.6208 0 TD
(or)Tj
/F9 1 Tf
1.0649 0 TD
(D)Tj
/F11 1 Tf
6.9738 0 0 6.9738 192.4014 140.3799 Tm
(C)Tj
/F18 1 Tf
9.9626 0 0 9.9626 199.1024 141.8749 Tm
(\()Tj
/F21 1 Tf
.389 0 TD
<02>Tj
/F18 1 Tf
.5604 0 TD
(\))Tj
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Q
BT
/F2 1 Tf
7.9701 0 0 7.9701 176.4053 591.1808 Tm
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[(Re)15(gression)]TJ
ET
q 1 0 0 1 223.039 593.074 cm 0 0 m
0 9.464 l
S
Q
BT
7.9701 0 0 7.9701 241.8215 595.9128 Tm
(Stage-1)Tj
ET
q 1 0 0 1 284.952 593.074 cm 0 0 m
0 9.464 l
S
Q
BT
7.9701 0 0 7.9701 292.2366 595.9128 Tm
[(17.46)-2819(8.24)-3070.1(8.57)]TJ
ET
q 1 0 0 1 394.276 593.074 cm 0 0 m
0 9.464 l
S
Q
BT
7.9701 0 0 7.9701 403.0008 595.9128 Tm
[(19.36)-2639.1(1.09)]TJ
/F1 1 Tf
0 .99399 1 0 k
9.7785 0 TD
(0.03)Tj
ET
q 1 0 0 1 165.071 583.609 cm 0 0 m
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S 1 0 0 1 57.968 0 cm 0 0 m
0 9.464 l
S
Q
BT
/F2 1 Tf
7.9701 0 0 7.9701 241.8215 586.4478 Tm
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(Stage-2)Tj
ET
q 1 0 0 1 284.952 583.609 cm 0 0 m
0 9.464 l
S
Q
BT
7.9701 0 0 7.9701 292.2366 586.4478 Tm
[(26.09)-2569.1(12.78)-2570.1(12.53)]TJ
ET
q 1 0 0 1 394.276 583.609 cm 0 0 m
0 9.464 l
S
Q
BT
7.9701 0 0 7.9701 403.0008 586.4478 Tm
[(27.15)-2639.1(2.17)-3140.1(0.17)]TJ
ET
.498 w
q 1 0 0 1 71.03 581.644 cm 0 0 m
436.365 0 l
S
Q
BT
/F1 1 Tf
7.9701 0 0 7.9701 84.8672 557.7847 Tm
[(FLA)94.9(T)-250(\()0(P)20(olynomial\))]TJ
ET
.398 w
q 1 0 0 1 165.071 569.143 cm 0 0 m
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S
Q
BT
/F2 1 Tf
7.9701 0 0 7.9701 172.3573 567.2498 Tm
(Classi\223cation)Tj
ET
q 1 0 0 1 223.039 569.143 cm 0 0 m
0 9.464 l
S
Q
BT
7.9701 0 0 7.9701 241.8215 571.9818 Tm
(Stage-1)Tj
ET
q 1 0 0 1 284.952 569.143 cm 0 0 m
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S
Q
BT
/F1 1 Tf
7.9701 0 0 7.9701 292.2366 571.9818 Tm
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[(17.94)-2819(9.36)-3070.1(9.56)]TJ
ET
q 1 0 0 1 394.276 569.143 cm 0 0 m
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S
Q
BT
7.9701 0 0 7.9701 403.0008 571.9818 Tm
(20.73)Tj
/F2 1 Tf
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4.8893 0 TD
[(1.90)-3139.1(0.19)]TJ
ET
q 1 0 0 1 165.071 559.678 cm 0 0 m
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S
Q
BT
7.9701 0 0 7.9701 241.8215 562.5167 Tm
(Stage-2)Tj
ET
q 1 0 0 1 284.952 559.678 cm 0 0 m
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S
Q
BT
/F1 1 Tf
7.9701 0 0 7.9701 292.2366 562.5167 Tm
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[(12.51)-2819(6.37)-3070.1(6.54)]TJ
ET
q 1 0 0 1 394.276 559.678 cm 0 0 m
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S
Q
BT
7.9701 0 0 7.9701 403.0008 562.5167 Tm
[(14.51)-2639.1(1.38)]TJ
.88367 .76916 0 0 k
9.7791 0 TD
(0.16)Tj
ET
q 1 0 0 1 165.071 550.214 cm 0 0 m
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S
Q
BT
/F2 1 Tf
7.9701 0 0 7.9701 176.4053 548.3207 Tm
/Cs8 cs 1 scn
[(Re)15(gression)]TJ
ET
q 1 0 0 1 223.039 550.214 cm 0 0 m
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S
Q
BT
7.9701 0 0 7.9701 241.8215 553.0527 Tm
(Stage-1)Tj
ET
q 1 0 0 1 284.952 550.214 cm 0 0 m
0 9.464 l
S
Q
BT
7.9701 0 0 7.9701 292.2366 553.0527 Tm
[(22.60)-2569.1(11.01)-2570.1(10.96)]TJ
ET
q 1 0 0 1 394.276 550.214 cm 0 0 m
0 9.464 l
S
Q
BT
7.9701 0 0 7.9701 403.0008 553.0527 Tm
(24.36)Tj
/F1 1 Tf
.88367 .76916 0 0 k
4.8893 0 TD
(1.67)Tj
0 .99399 1 0 k
4.7641 0 TD
(0.15)Tj
ET
q 1 0 0 1 165.071 540.749 cm 0 0 m
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S 1 0 0 1 57.968 0 cm 0 0 m
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S
Q
BT
/F2 1 Tf
7.9701 0 0 7.9701 241.8215 543.5878 Tm
/Cs8 cs 1 scn
(Stage-2)Tj
ET
q 1 0 0 1 284.952 540.749 cm 0 0 m
0 9.464 l
S
Q
BT
7.9701 0 0 7.9701 292.2366 543.5878 Tm
[(26.04)-2569.1(12.76)-2570.1(12.51)]TJ
ET
q 1 0 0 1 394.276 540.749 cm 0 0 m
0 9.464 l
S
Q
BT
7.9701 0 0 7.9701 403.0008 543.5878 Tm
[(27.19)-2639.1(2.17)-3140.1(0.17)]TJ
ET
.498 w
q 1 0 0 1 71.03 538.784 cm 0 0 m
436.365 0 l
S
Q
BT
/F1 1 Tf
7.9701 0 0 7.9701 89.2192 514.9247 Tm
[(FLA)94.9(T)-250(\(Rotation\))]TJ
ET
.398 w
q 1 0 0 1 165.071 526.283 cm 0 0 m
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S
Q
BT
/F2 1 Tf
7.9701 0 0 7.9701 172.3573 524.3897 Tm
(Classi\223cation)Tj
ET
q 1 0 0 1 223.039 526.283 cm 0 0 m
0 9.464 l
S
Q
BT
7.9701 0 0 7.9701 241.8215 529.1217 Tm
(Stage-1)Tj
ET
q 1 0 0 1 284.952 526.283 cm 0 0 m
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S
Q
BT
7.9701 0 0 7.9701 294.2296 529.1217 Tm
[(6.32)-3069.1(2.43)-3070.1(2.51)]TJ
ET
q 1 0 0 1 394.276 526.283 cm 0 0 m
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S
Q
BT
7.9701 0 0 7.9701 404.9928 529.1217 Tm
(7.32)Tj
/F1 1 Tf
.88367 .76916 0 0 k
4.6393 0 TD
(0.02)Tj
0 .99399 1 0 k
4.889 0 TD
(0.00)Tj
ET
q 1 0 0 1 165.071 516.818 cm 0 0 m
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S
Q
BT
/F2 1 Tf
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/Cs8 cs 1 scn
(Stage-2)Tj
ET
q 1 0 0 1 284.952 516.818 cm 0 0 m
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S
Q
BT
/F1 1 Tf
7.9701 0 0 7.9701 294.2296 519.6567 Tm
0 .99399 1 0 k
[(2.35)-3069.1(0.80)-3070.1(0.61)]TJ
ET
q 1 0 0 1 394.276 516.818 cm 0 0 m
0 9.464 l
S
Q
BT
7.9701 0 0 7.9701 404.9928 519.6567 Tm
[(2.03)-2889(0.01)-3140.1(0.00)]TJ
ET
q 1 0 0 1 165.071 507.354 cm 0 0 m
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S
Q
BT
/F2 1 Tf
7.9701 0 0 7.9701 176.4053 505.4606 Tm
/Cs8 cs 1 scn
[(Re)15(gression)]TJ
ET
q 1 0 0 1 223.039 507.354 cm 0 0 m
0 9.464 l
S
Q
BT
7.9701 0 0 7.9701 241.8215 510.1927 Tm
(Stage-1)Tj
ET
q 1 0 0 1 284.952 507.354 cm 0 0 m
0 9.464 l
S
Q
BT
/F1 1 Tf
7.9701 0 0 7.9701 294.2296 510.1927 Tm
.88367 .76916 0 0 k
[(5.50)-3069.1(1.87)-3070.1(1.76)]TJ
ET
q 1 0 0 1 394.276 507.354 cm 0 0 m
0 9.464 l
S
Q
BT
7.9701 0 0 7.9701 404.9928 510.1927 Tm
[(5.45)-2889(0.02)]TJ
0 .99399 1 0 k
9.529 0 TD
(0.00)Tj
ET
q 1 0 0 1 165.071 497.889 cm 0 0 m
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S 1 0 0 1 57.968 0 cm 0 0 m
0 9.464 l
S
Q
BT
/F2 1 Tf
7.9701 0 0 7.9701 241.8215 500.7277 Tm
/Cs8 cs 1 scn
(Stage-2)Tj
ET
q 1 0 0 1 284.952 497.889 cm 0 0 m
0 9.464 l
S
Q
BT
7.9701 0 0 7.9701 292.2366 500.7277 Tm
[(26.30)-2569.1(12.89)-2570.1(12.59)]TJ
ET
q 1 0 0 1 394.276 497.889 cm 0 0 m
0 9.464 l
S
Q
BT
7.9701 0 0 7.9701 403.0008 500.7277 Tm
[(27.35)-2639.1(2.17)]TJ
/F1 1 Tf
.88367 .76916 0 0 k
9.7785 0 TD
(0.17)Tj
ET
.498 w
q 1 0 0 1 71.03 495.924 cm 0 0 m
436.365 0 l
S
Q
BT
7.9701 0 0 7.9701 78.1171 472.0646 Tm
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[(FLA)94.9(T)-250(\(Full)-250(T)74(rajectory\))]TJ
ET
.398 w
q 1 0 0 1 165.071 483.423 cm 0 0 m
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S
Q
BT
/F2 1 Tf
7.9701 0 0 7.9701 172.3573 481.5296 Tm
(Classi\223cation)Tj
ET
q 1 0 0 1 223.039 483.423 cm 0 0 m
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S
Q
BT
7.9701 0 0 7.9701 241.8215 486.2616 Tm
(Stage-1)Tj
ET
q 1 0 0 1 284.952 483.423 cm 0 0 m
0 9.464 l
S
Q
BT
7.9701 0 0 7.9701 294.2296 486.2616 Tm
[(1.52)-3069.1(0.45)-3070.1(0.51)]TJ
ET
q 1 0 0 1 394.276 483.423 cm 0 0 m
0 9.464 l
S
Q
BT
7.9701 0 0 7.9701 404.9928 486.2616 Tm
(1.71)Tj
/F1 1 Tf
.88367 .76916 0 0 k
4.6393 0 TD
(0.01)Tj
0 .99399 1 0 k
4.889 0 TD
(0.00)Tj
ET
q 1 0 0 1 165.071 473.958 cm 0 0 m
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S 1 0 0 1 57.968 0 cm 0 0 m
0 9.464 l
S
Q
BT
/F2 1 Tf
7.9701 0 0 7.9701 241.8215 476.7966 Tm
/Cs8 cs 1 scn
(Stage-2)Tj
ET
q 1 0 0 1 284.952 473.958 cm 0 0 m
0 9.464 l
S
Q
BT
/F1 1 Tf
7.9701 0 0 7.9701 294.2296 476.7966 Tm
0 .99399 1 0 k
[(0.19)-3069.1(0.01)-3070.1(0.02)]TJ
ET
q 1 0 0 1 394.276 473.958 cm 0 0 m
0 9.464 l
S
Q
BT
7.9701 0 0 7.9701 404.9928 476.7966 Tm
[(0.26)-2889(0.00)-3140.1(0.00)]TJ
ET
q 1 0 0 1 165.071 464.494 cm 0 0 m
0 9.464 l
S
Q
BT
/F2 1 Tf
7.9701 0 0 7.9701 176.4053 462.6006 Tm
/Cs8 cs 1 scn
[(Re)15(gression)]TJ
ET
q 1 0 0 1 223.039 464.494 cm 0 0 m
0 9.464 l
S
Q
BT
7.9701 0 0 7.9701 241.8215 467.3326 Tm
(Stage-1)Tj
ET
q 1 0 0 1 284.952 464.494 cm 0 0 m
0 9.464 l
S
Q
BT
/F1 1 Tf
7.9701 0 0 7.9701 294.2296 467.3326 Tm
.88367 .76916 0 0 k
[(1.01)-3069.1(0.35)-3070.1(0.32)]TJ
ET
q 1 0 0 1 394.276 464.494 cm 0 0 m
0 9.464 l
S
Q
BT
7.9701 0 0 7.9701 404.9928 467.3326 Tm
[(1.27)-2889(0.01)]TJ
0 .99399 1 0 k
9.529 0 TD
(0.00)Tj
ET
q 1 0 0 1 165.071 455.029 cm 0 0 m
0 9.464 l
S 1 0 0 1 57.968 0 cm 0 0 m
0 9.464 l
S
Q
BT
/F2 1 Tf
7.9701 0 0 7.9701 241.8215 457.8676 Tm
/Cs8 cs 1 scn
(Stage-2)Tj
ET
q 1 0 0 1 284.952 455.029 cm 0 0 m
0 9.464 l
S
Q
BT
7.9701 0 0 7.9701 292.2366 457.8676 Tm
[(26.03)-2569.1(12.70)-2570.1(12.48)]TJ
ET
q 1 0 0 1 394.276 455.029 cm 0 0 m
0 9.464 l
S
Q
BT
7.9701 0 0 7.9701 403.0008 457.8676 Tm
[(27.13)-2639.1(2.16)]TJ
/F1 1 Tf
.88367 .76916 0 0 k
9.7785 0 TD
(0.17)Tj
ET
.797 w
q 1 0 0 1 71.03 452.915 cm 0 0 m
436.365 0 l
S
Q
BT
/F2 1 Tf
9.9626 0 0 9.9626 41.7121 433.0885 Tm
/Cs8 cs 1 scn
[(3D)-394(bounding)-395(box)15(es)-395(a)20(v)15(erage)-394(precision)-395(\(AP\))-394(with)-395(the)-395(IoU)]TJ
0 -1.2 TD
[(thresholds)-284(at)-284(0.7)-284(on)-284(car)-285(cate)14(gory)65(.)-412(F)15(ollo)25(wing)-284([)]TJ
1 0 1 0 k
18.439 0 TD
(37)Tj
/Cs8 cs 1 scn
1 0 TD
[(],)-293(we)-284(e)25(v)25(al-)]TJ
-19.439 -1.2 TD
[(uate)-382(the)-381(detector)-382(in)-381(three)-382(scenarios)-382(\(Easy)65(,)-414(Moderate,)-415(and)]TJ
T*
[(Hard\))-288(based)-287(on)-288(the)-288(dif)25(\223culty)-287(le)25(v)15(e)0(l)-288(o)0(f)-287(the)-288(surrounding)-288(cars.)]TJ
0 -1.2001 TD
[(In)-246(addition,)-247(the)-245(performance)-246(within)-246(three)-246(depth)-246(ranges,)]TJ
/F6 1 Tf
22.2417 0 TD
(i.e)Tj
/F2 1 Tf
.972 0 TD
(.,)Tj
/F18 1 Tf
-23.2137 -1.2 TD
(0)Tj
/F9 1 Tf
.8891 0 TD
<03>Tj
/F18 1 Tf
1.1669 0 TD
(30)Tj
/F2 1 Tf
.9999 0 TD
(,)Tj
/F18 1 Tf
.5752 0 TD
(30)Tj
/F9 1 Tf
1.3891 0 TD
<03>Tj
/F18 1 Tf
1.1669 0 TD
(50)Tj
/F2 1 Tf
1 0 TD
[(,)-325(and)]TJ
/F18 1 Tf
2.3293 0 TD
(50)Tj
/F9 1 Tf
1.3891 0 TD
<03>Tj
/F18 1 Tf
1.1669 0 TD
(70)Tj
/F2 1 Tf
1.3101 0 TD
[(meters,)-325(are)-309.9(also)-310.1(assessed.)]TJ
-13.3825 -1.2 TD
[(F)15(o)0(r)-270(the)-270(black)-269(box)-270(PointPillar++,)-275(we)-269(follo)25(w)-270(the)-270(original)-270(pa-)]TJ
T*
[(per)-232([)]TJ
1 0 1 0 k
1.842 0 TD
(11)Tj
/Cs8 cs 1 scn
1 0 TD
[(])-232(t)0(o)-233(emplo)10(y)-232(o)0(f)25(\223cial)-232(3D)-232(detection)-233(e)25(v)25(a)0(luation)-233(protocol)]TJ
-2.842 -1.2 TD
[(in)-372(nuScenes)-372([)]TJ
1 0 1 0 k
5.632 0 TD
(2)Tj
/Cs8 cs 1 scn
.5 0 TD
(],)Tj
/F6 1 Tf
.9861 0 TD
(i.e)Tj
/F2 1 Tf
.972 0 TD
[(.,)-403(a)20(v)15(erage)-372(mAP)-372(o)15(v)15(e)0(r)-372(ten)-372(cate)15(gories)-373(at)]TJ
-8.0902 -1.2 TD
[(four)-314(distance)-314(thresholds.)-502(F)15(o)0(r)-314(e)25(v)25(aluating)-315(attack)-314(quality)65(,)-330(w)0(e)]TJ
T*
[(utilize)-250(the)-250(performance)-250(drop)-250(after)-250(attack.)]TJ
/F1 1 Tf
10.9589 0 0 10.9589 41.7121 293.1803 Tm
[(5.3.)-250(Experimental)-250(Setup)]TJ
9.9626 0 0 9.9626 53.6671 275.1042 Tm
[(Implementation)-325.9(details.)]TJ
/F2 1 Tf
10.7235 0 TD
[(nuScenes)-326(samples)-324.9(k)10(e)15(yframes)]TJ
-11.9235 -1.2 TD
[(at)-363(2Hz)-363(from)-364(the)-363(original)-363(20Hz)-363(data,)-392(so)-363(we)-363(assume)-363(that)-364(a)]TJ
T*
[(sweep)-238(consumes)-237(0.5)-238(second)]TJ
6.9738 0 0 6.9738 153.1213 254.8092 Tm
0 .89 .94 .28 k
<82>Tj
9.9626 0 0 9.9626 159.4743 251.1942 Tm
/Cs8 cs 1 scn
[(and)-238(implement)-236.9(linear)-238(pose)-237(in-)]TJ
-11.8204 -1.2001 TD
[(terpolation)-341.9(between)-342(tw)10(o)-343(adjacent)-342(k)10(e)15(yframes.)-586(W)80(e)-343(set)-342(total)]TJ
T*
[(interpolation)-295.9(step)]TJ
/F8 1 Tf
7.3149 0 TD
(N)Tj
/F2 1 Tf
1.2089 0 TD
[(as)-296(100.)-450(F)15(o)0(r)-296(PGD,)-297(we)-296(restrict)-296(the)-297(per)20(-)]TJ
-8.5238 -1.2 TD
[(turbation)-410.9(to)-412(10cm)-411(in)-411(translation,)-452(and)-411(to)-411(0.01)-411(in)-412(rotation.)]TJ
T*
[(The)-327(step)-328(size)-327(for)-327(each)-328(attack)-326.9(iteration)-328.1(is)-327(0.1/0.01)-327(in)-328(trans-)]TJ
T*
[(lation/rotation,)-417.9(and)-384(the)-385(number)-383.9(of)-385(iterations)-384(is)-384(20.)-714(More)]TJ
T*
[(e)15(xperimental)-336(settings)-336(lik)10(e)-336(the)-335(step)-336(size)-335(and)-336(the)-335(number)-336(of)]TJ
T*
[(iterations)-250(are)-250(reported)-249.9(in)-250(the)-250(supplementary)65(.)]TJ
/F1 1 Tf
1.2 -1.2143 TD
(Baselines.)Tj
/F2 1 Tf
4.6652 0 TD
[(T)80(o)-303(demonstrate)-304(the)-303(superiority)-304(of)-303(our)-303(attack)]TJ
-5.8652 -1.2001 TD
[(pipeline,)-250(we)-250(emplo)10(y)-250(t)0(w)10(o)-250(baseline)-250(methods)-250(for)-250(comparison.)]TJ
ET
.398 w
q 1 0 0 1 41.712 134.545 cm 0 0 m
94.499 0 l
S
Q
BT
5.9776 0 0 5.9776 52.5711 127.7509 Tm
<82>Tj
7.9701 0 0 7.9701 56.0581 124.9379 Tm
[(In)-309(f)10(act,)-324(the)-310(LiD)40(AR)-309(rotation)-309(period)-309(is)-309(0.05)-310(second,)-324(ho)25(we)25(v)15(e)0(r)40(,)-324(we)-309(only)]TJ
-1.8 -1.1874 TD
[(ha)20(v)15(e)-247(access)-248(to)-247(annotations)-247(on)-248(k)10(e)15(yframes)-247(at)-247(2Hz,)-248(so)-248(we)-247(ha)20(v)15(e)-247(to)-248(assume)-247(the)]TJ
0 -1.1876 TD
[(capture)-250.1(frequenc)14.8(y)-250(o)0(f)-250(LiD)40(AR)-250(is)-250(also)-250(2Hz.)]TJ
9.9626 0 0 9.9626 311.9196 433.0885 Tm
<80>Tj
/F1 1 Tf
.85 0 TD
[(Random)-232.9(Attack.)]TJ
/F2 1 Tf
7.3425 0 TD
[(W)80(e)-233(add)-233(Gaussian)-233(noise)-233(with)-233(a)-233(10cm)]TJ
-7.3425 -1.2 TD
[(standard)-367(de)25(viation)-368(to)-367(the)-368(original)-367(point)-368(cloud,)-397(Gaus-)]TJ
T*
[(sian)-243(noise)-243(with)-242.9(a)-242(10cm)-243(standard)-243(de)25(viation)-243(to)-243(the)-243(trans-)]TJ
T*
[(lations)-347.9(and)-348(Gaussian)-348(noise)-348(with)-348(0.01)-347.9(standard)-348(de)25(via-)]TJ
T*
[(tion)-249.9(to)-250(rotations.)]TJ
-.85 -1.2 TD
<80>Tj
/F1 1 Tf
.85 0 TD
[(Coordinate)-242.9(Attack.)]TJ
/F2 1 Tf
8.5217 0 TD
[(Coordinate)-243(attack)-242.9([)]TJ
1 0 1 0 k
7.651 0 TD
(44)Tj
/Cs8 cs 1 scn
.9999 0 TD
[(])-243(i)0(s)-243(directly)]TJ
-17.1726 -1.2 TD
[(manipulating)-274.9(the)-275(point)-275(set)-274(to)-275(decei)25(v)15(e)-275(the)-275(detector)55(.)-385(W)80(e)]TJ
T*
[(attack)-300.9(classi\223cation)-301(of)-301(stage-2)-301(and)-302(restrict)-302(the)-301(change)]TJ
T*
[(in)-357(point)-358(coordinate)-357(to)-357(10cm.)-633(The)-357(binary)-357(search)-358(step)]TJ
T*
[(number)-299.9(is)-299(10)-300(and)-299(the)-300(number)-299(of)-300(iteration)-300(for)-299(each)-300(bi-)]TJ
T*
[(nary)-250(search)-250(step)-250(is)-250(100.)]TJ
/F1 1 Tf
-.8 -1.2294 TD
[(Attack)-429(Settings.)]TJ
/F2 1 Tf
7.8014 0 TD
[(The)-429(polynomial)-427.9(trajectory)-429(attack)-428(i)0(s)]TJ
-9.0014 -1.2001 TD
[(temporally-smooth)-249.9(and)-250(the)-250(others)-249.9(are)-250(temporally-discrete:)]TJ
1.15 -1.2294 TD
<80>Tj
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[(FLA)94.9(T)-250(\()0(P)20(olynomial\))]TJ
ET
q 1 0 0 1 158.168 487.434 cm 0 0 m
0 9.464 l
S
Q
BT
/F2 1 Tf
7.9701 0 0 7.9701 165.4543 490.2726 Tm
[(57.9)-2195.1(26.9)-2472.1(21.3)-2303.1(12.7)-2327.1(25.4)-2079(30.2)-1983.2(25.2)-2650(3.4)-3168.1(3.5)]TJ
/F1 1 Tf
0 .99399 1 0 k
37.0865 0 TD
(0.0)Tj
ET
q 1 0 0 1 483.539 487.434 cm 0 0 m
0 9.464 l
S
Q
BT
/F2 1 Tf
7.9701 0 0 7.9701 492.0439 490.2726 Tm
/Cs8 cs 1 scn
(20.7)Tj
/F1 1 Tf
-51.408 -1.1876 TD
[(FLA)94.9(T)-250(\(Rotation\))]TJ
ET
q 1 0 0 1 158.168 477.969 cm 0 0 m
0 9.464 l
S
Q
BT
7.9701 0 0 7.9701 165.4543 480.8076 Tm
.88367 .76916 0 0 k
[(47.7)-2195.1(21.1)-2472.1(18.6)-2553(8.9)-2577.1(20.2)-2079(23.5)-1983.2(20.5)-2650(1.7)-3168.1(1.3)]TJ
0 .99399 1 0 k
37.086 0 TD
(0.0)Tj
ET
q 1 0 0 1 483.539 477.969 cm 0 0 m
0 9.464 l
S
Q
BT
7.9701 0 0 7.9701 492.0439 480.8076 Tm
.88367 .76916 0 0 k
(16.4)Tj
/Cs8 cs 1 scn
-52.801 -1.1874 TD
[(FLA)94.9(T)-250(\(Full)-250(T)74(rajectory\))]TJ
ET
q 1 0 0 1 158.168 468.505 cm 0 0 m
0 9.464 l
S
Q
BT
7.9701 0 0 7.9701 165.4543 471.3436 Tm
0 .99399 1 0 k
[(45.0)-2195.1(18.6)-2472.1(16.4)-2553(5.9)-2577.1(18.3)-2079(22.0)-1983.2(19.7)-2650(1.3)-3168.1(0.5)-3159(0.0)]TJ
ET
q 1 0 0 1 483.539 468.505 cm 0 0 m
0 9.464 l
S
Q
BT
7.9701 0 0 7.9701 492.0439 471.3436 Tm
(14.8)Tj
ET
.797 w
q 1 0 0 1 64.127 466.39 cm 0 0 m
450.171 0 l
S
Q
BT
9.9626 0 0 9.9626 53.6671 444.0735 Tm
/Cs8 cs 1 scn
[(Attack)-347(T)74(ranslation)-347(Only)70(.)]TJ
/F2 1 Tf
11.403 0 TD
[(The)-347(quantitati)25.1(v)15(e)-347(results)-348(are)]TJ
-12.603 -1.2 TD
[(e)15(xhibited)-338(in)-339(T)80(able)]TJ
0 .89 .94 .28 k
7.697 0 TD
(1)Tj
/Cs8 cs 1 scn
.5 0 TD
[(.)-575(Simply)-338(adding)-339(random)-338(noise)-338(with)-339(a)]TJ
-8.197 -1.2 TD
[(small)-414(standard)-414(de)25(viation)-414(can)-413(lar)18(gely)-414(decrease)-413(the)-414(perfor)20(-)]TJ
0 -1.2001 TD
(mance,)Tj
/F6 1 Tf
3.0669 0 TD
-.015 Tc
[(e.)-15(g)]TJ
/F2 1 Tf
1.179 0 TD
0 Tc
[(.,)-207(AP)-196(in)-196(the)-196(easy)-196(case)-196(is)-197(reduced)-196(by)]TJ
/F18 1 Tf
13.8838 0 TD
(30)Tj
/F8 1 Tf
1 0 TD
(.)Tj
/F18 1 Tf
.2778 0 TD
(44)Tj
/F2 1 Tf
1.1961 0 TD
(\(around)Tj
/F18 1 Tf
-20.6037 -1.2 TD
(64%)Tj
/F2 1 Tf
1.8334 0 TD
[(\).)-401(This)-280(phenomenon)-281(should)-280(stand)-280(as)-280(a)-281(w)10(arning)-280(for)-280(the)]TJ
-1.8334 -1.2 TD
[(autonomous)-386.9(dri)25(ving)-387(community)65.1(.)-721(Also,)-422(attacking)-387(classi\223-)]TJ
T*
[(cation)-352(branch)-350.9(of)-352(stage-2)-351(is)-352(the)-351(most)-352(ef)25(fecti)25(v)15(e)-352(w)10(a)0(y)-351(t)0(o)-352(fool)]TJ
T*
[(the)-272(detector:)-353(AP)-272(is)-271(respecti)25(v)15(ely)-272(lo)25(wered)-271(by)]TJ
/F18 1 Tf
17.6371 0 TD
(35)Tj
/F8 1 Tf
1 0 TD
(.)Tj
/F18 1 Tf
.2777 0 TD
(72)Tj
/F2 1 Tf
1.2718 0 TD
(\()Tj
/F18 1 Tf
.3329 0 TD
(75)Tj
/F8 1 Tf
1 0 TD
(.)Tj
/F18 1 Tf
.2777 0 TD
(3%)Tj
/F2 1 Tf
1.3334 0 TD
(\),)Tj
/F18 1 Tf
-23.1307 -1.2 TD
(15)Tj
/F8 1 Tf
1 0 TD
(.)Tj
/F18 1 Tf
.2777 0 TD
(69)Tj
/F2 1 Tf
1.2937 0 TD
(\()Tj
/F18 1 Tf
.333 0 TD
(72)Tj
/F8 1 Tf
1 0 TD
(.)Tj
/F18 1 Tf
.2777 0 TD
(8%)Tj
/F2 1 Tf
1.3334 0 TD
[(\))-294(and)]TJ
/F18 1 Tf
2.3644 0 TD
(14)Tj
/F8 1 Tf
1 0 TD
(.)Tj
/F18 1 Tf
.2778 0 TD
(85)Tj
/F2 1 Tf
1.2937 0 TD
(\()Tj
/F18 1 Tf
.3329 0 TD
(71)Tj
/F8 1 Tf
1 0 TD
(.)Tj
/F18 1 Tf
.2777 0 TD
(0%)Tj
/F2 1 Tf
1.3334 0 TD
[(\))-294(i)0(n)-294(the)-293(scenarios)-294(of)-294(easy)65(,)]TJ
-13.3959 -1.2001 TD
[(moderate)-278.9(and)-280(hard.)-399(This)-279(is)-280(because)-279(the)-280(stage-2)-279(outputs)-280(the)]TJ
T*
[<936e616c>-399(predictions)-399.9(and)-399(is)-400(e)15(xtremely)-399(safety-rele)25(v)25(ant.)-759(More-)]TJ
0 -1.2 TD
[(o)15(v)15(e)0(r)40(,)-304(we)-293(can)-293<936e64>-293(that)-293(attacking)-293(the)-294(classi\223cation)-294(branch)-293(is)]TJ
T*
[(more)-345(ef)25(fecti)25(v)15(e)-345(than)-345(attacking)-345(re)15(gression,)-369(which)-345(is)-345(reason-)]TJ
T*
[(able)-317(because)-317(classifying)-317(the)-316.9(objects)-317(tak)10.1(es)-317(priority)-318(o)15(v)15(e)0(r)-317(es-)]TJ
T*
[(timating)-304(their)-305(sizes)-305(in)-305(the)-305(detection)-304(task.)-474(Compared)-304(to)-305(the)]TJ
0 -1.2001 TD
[(random)-374(attack,)-405(our)-374(method)-374(is)-374(more)-374(detrimental)-374(thanks)-374(to)]TJ
0 -1.2 TD
[(our)-277(making)-277(use)-278(of)-277(the)-277(vulnerability)-277(pointed)-277(out)-277(by)-278(the)-277(gra-)]TJ
T*
[(dient.)-717(In)-386(easy)65(,)-420(moderate,)-419(and)-386(hard)-386(scenarios,)-420(adv)15(ersarial)]TJ
T*
[(perturbation)-298.9(generated)-298.9(by)-299(attacking)-300(stage-2\220)55(s)-299(classi\223cation)]TJ
T*
[(can)-374(yield)-373(additional)-374(drops)-374(of)]TJ
/F18 1 Tf
12.3112 0 TD
(5)Tj
/F8 1 Tf
.5 0 TD
(.)Tj
/F18 1 Tf
.2777 0 TD
(28)Tj
/F2 1 Tf
1 0 TD
(,)Tj
/F18 1 Tf
.6545 0 TD
(2)Tj
/F8 1 Tf
.5001 0 TD
(.)Tj
/F18 1 Tf
.2777 0 TD
(71)Tj
/F2 1 Tf
1 0 TD
[(,)-405(and)]TJ
/F18 1 Tf
2.4722 0 TD
(2)Tj
/F8 1 Tf
.5 0 TD
(.)Tj
/F18 1 Tf
.2777 0 TD
(84)Tj
/F2 1 Tf
1.3737 0 TD
[(in)-374(AP)111(,)]TJ
-21.1451 -1.2 TD
[(compared)-323.9(to)-324(the)-324(random)-325(perturbation.)-533(Besides,)-343(our)-324(attack)]TJ
0 -1.2001 TD
[(is)-253(better)-253(than)-253(the)-252(coordinate)-253(attack)-253(due)-253(to)-253(the)-253(parameteriza-)]TJ
0 -1.2 TD
[(tion,)-250(v)25(alidating)-250(the)-250(superiority)-250(of)-250(the)-250(trajectory)-250(attack.)]TJ
/F1 1 Tf
1.2 -1.5331 TD
[(P)20(olynomial)-294(T)74(rajectory)-295(P)20(erturbation.)]TJ
/F2 1 Tf
16.1655 0 TD
[(When)-294(attacking)]TJ
-17.3654 -1.2 TD
[(polynomial)-303.9(coef)25(\223cients)-302.9(instead)-304(of)-303(the)-304(indi)25(vidual)-304(trajectory)]TJ
0 -1.2001 TD
[(point,)-327(the)-312(performance)-311.9(is)-312(still)-312(on)-311(par)-312(with)-312(the)-312(discrete)-312(set-)]TJ
0 -1.2 TD
[(ting,)-243(as)-241(sho)25(wn)-241(in)-241(T)80(able)]TJ
0 .89 .94 .28 k
9.407 0 TD
(1)Tj
/Cs8 cs 1 scn
.5001 0 TD
[(,)-243(yet)-241(the)-241(attack)-241(is)-241(highly)-241(impercep-)]TJ
-9.9071 -1.2 TD
[(tible)-264(especially)-263.9(in)-265(the)-264(point)-264(cloud)-264(space)-265(as)-264(sho)25(wn)-264(in)-264(Fig.)]TJ
0 .89 .94 .28 k
22.964 0 TD
(4)Tj
/Cs8 cs 1 scn
.5001 0 TD
(.)Tj
/F1 1 Tf
7.9701 0 0 7.9701 300.4626 452.3925 Tm
[(T)92(able)-251(3:)-312(AP)-251(of)-250(FLA)95(T)-251(with)-251(and)-251(without)-251(r)18(egularization.)]TJ
/F4 1 Tf
23.3705 0 TD
<02>Tj
/F2 1 Tf
.8708 0 TD
[(indicates)-251.1(re)15(g-)]TJ
-24.2412 -1.1876 TD
[(ularization)-287.2(strength)]TJ
/F3 1 Tf
8.0734 0 TD
(S)Tj
/F2 1 Tf
1.004 0 TD
[(denotes)-287.1(a)20(v)15(erage)-287(trajectory)-288(v)25(ariation)-287(and)]TJ
/F3 1 Tf
16.3711 0 TD
(D)Tj
/F2 1 Tf
1.1386 0 TD
(denotes)Tj
-26.5871 -1.1874 TD
[(a)20(v)15(erage)-250(point)-250(cloud)-250(distance)-250(\()]TJ
/F4 1 Tf
11.962 0 TD
<03>Tj
/F14 1 Tf
5.9776 0 0 5.9776 399.2598 432.4665 Tm
(p)Tj
/F2 1 Tf
7.9701 0 0 7.9701 405.5908 433.4635 Tm
[(norm)-250(and)-250.1(Chamfer)-250.2(distance\).)]TJ
ET
q 1 0 0 1 306.365 427.236 cm 0 0 m
224.446 0 l
S
Q
BT
6.9738 0 0 6.9738 313.8816 414.4855 Tm
[(Re)15(gularization)]TJ
ET
.398 w
q 1 0 0 1 362.556 416.079 cm 0 0 m
0 7.97 l
S
Q
BT
/F11 1 Tf
6.9738 0 0 6.9738 369.3287 414.4855 Tm
<02>Tj
ET
q 1 0 0 1 380.828 416.079 cm 0 0 m
0 7.97 l
S
Q
BT
/F12 1 Tf
6.9738 0 0 6.9738 393.6438 414.4855 Tm
(S)Tj
/F2 1 Tf
.7743 0 TD
(/)Tj
/F12 1 Tf
.278 0 TD
(D)Tj
ET
q 1 0 0 1 420.217 416.079 cm 0 0 m
0 7.97 l
S
Q
BT
/F2 1 Tf
6.9738 0 0 6.9738 471.1569 418.4705 Tm
(AP)Tj
ET
q 1 0 0 1 362.556 408.109 cm 0 0 m
0 7.97 l
S 1 0 0 1 18.272 0 cm 0 0 m
0 7.97 l
S 1 0 0 1 39.389 0 cm 0 0 m
0 7.97 l
S
Q
BT
6.9738 0 0 6.9738 433.1318 410.5005 Tm
(Easy)Tj
ET
q 1 0 0 1 459.605 408.109 cm 0 0 m
0 7.97 l
S
Q
BT
6.9738 0 0 6.9738 464.1939 410.5005 Tm
[(Moderate)-2176.2(Hard)]TJ
ET
.498 w
q 1 0 0 1 306.365 406.144 cm 0 0 m
224.446 0 l
S
Q
BT
6.9738 0 0 6.9738 319.9597 393.5435 Tm
[(T)35(rajectory)]TJ
ET
.398 w
q 1 0 0 1 362.556 395.137 cm 0 0 m
0 7.97 l
S
Q
BT
6.9738 0 0 6.9738 369.9477 397.5284 Tm
(0)Tj
ET
q 1 0 0 1 380.828 395.137 cm 0 0 m
0 7.97 l
S
Q
BT
6.9738 0 0 6.9738 394.4198 397.5284 Tm
(0.18)Tj
ET
q 1 0 0 1 420.217 395.137 cm 0 0 m
0 7.97 l
S
Q
BT
6.9738 0 0 6.9738 433.8088 397.5284 Tm
(0.19)Tj
ET
q 1 0 0 1 459.605 395.137 cm 0 0 m
0 7.97 l
S
Q
BT
6.9738 0 0 6.9738 471.4539 397.5284 Tm
[(0.01)-3341.1(0.02)]TJ
ET
q 1 0 0 1 362.556 387.167 cm 0 0 m
0 7.97 l
S
Q
BT
/F1 1 Tf
6.9738 0 0 6.9738 365.5897 389.5584 Tm
(0.01)Tj
ET
q 1 0 0 1 380.828 387.167 cm 0 0 m
0 7.97 l
S
Q
BT
6.9738 0 0 6.9738 394.4198 389.5584 Tm
(0.17)Tj
ET
q 1 0 0 1 420.217 387.167 cm 0 0 m
0 7.97 l
S
Q
BT
6.9738 0 0 6.9738 433.8088 389.5584 Tm
(0.28)Tj
ET
q 1 0 0 1 459.605 387.167 cm 0 0 m
0 7.97 l
S
Q
BT
6.9738 0 0 6.9738 471.4539 389.5584 Tm
[(0.04)-3341.1(0.02)]TJ
ET
.498 w
q 1 0 0 1 306.365 385.202 cm 0 0 m
224.446 0 l
S
Q
BT
/F11 1 Tf
6.9738 0 0 6.9738 309.1986 364.6313 Tm
<03>Tj
/F20 1 Tf
4.9813 0 0 4.9813 312.5336 363.6354 Tm
(p)Tj
/F2 1 Tf
6.9738 0 0 6.9738 318.4596 364.6313 Tm
(norm/Chamfer)Tj
ET
.398 w
q 1 0 0 1 362.556 374.195 cm 0 0 m
0 7.97 l
S
Q
BT
6.9738 0 0 6.9738 369.9477 376.5864 Tm
(0)Tj
ET
q 1 0 0 1 380.828 374.195 cm 0 0 m
0 7.97 l
S
Q
BT
6.9738 0 0 6.9738 383.8617 376.5864 Tm
(27.54/28.70)Tj
ET
q 1 0 0 1 420.217 374.195 cm 0 0 m
0 7.97 l
S
Q
BT
6.9738 0 0 6.9738 426.7368 376.5864 Tm
(0.19/0.19)Tj
ET
q 1 0 0 1 459.605 374.195 cm 0 0 m
0 7.97 l
S
Q
BT
6.9738 0 0 6.9738 464.3829 376.5864 Tm
[(0.01/0.01)-1313.2(0.02/0.02)]TJ
ET
q 1 0 0 1 362.556 366.225 cm 0 0 m
0 7.97 l
S
Q
BT
/F1 1 Tf
6.9738 0 0 6.9738 365.5897 368.6164 Tm
(0.01)Tj
ET
q 1 0 0 1 380.828 366.225 cm 0 0 m
0 7.97 l
S
Q
BT
6.9738 0 0 6.9738 383.8617 368.6164 Tm
(14.43)Tj
/F2 1 Tf
2.25 0 TD
(/)Tj
/F1 1 Tf
.278 0 TD
(13.85)Tj
ET
q 1 0 0 1 420.217 366.225 cm 0 0 m
0 7.97 l
S
Q
BT
6.9738 0 0 6.9738 426.7368 368.6164 Tm
(5.66)Tj
/F2 1 Tf
1.7501 0 TD
(/)Tj
/F1 1 Tf
.2779 0 TD
(3.11)Tj
ET
q 1 0 0 1 459.605 366.225 cm 0 0 m
0 7.97 l
S
Q
BT
6.9738 0 0 6.9738 464.3829 368.6164 Tm
(2.45)Tj
/F2 1 Tf
1.75 0 TD
(/)Tj
/F1 1 Tf
.278 0 TD
[(1.33)-1313.1(2.65)]TJ
/F2 1 Tf
4.8129 0 TD
(/)Tj
/F1 1 Tf
.2781 0 TD
(1.38)Tj
ET
q 1 0 0 1 362.556 358.255 cm 0 0 m
0 7.97 l
S
Q
BT
/F2 1 Tf
6.9738 0 0 6.9738 367.3327 360.6464 Tm
(0.1)Tj
ET
q 1 0 0 1 380.828 358.255 cm 0 0 m
0 7.97 l
S
Q
BT
6.9738 0 0 6.9738 387.3487 360.6464 Tm
(2.35/3.54)Tj
ET
q 1 0 0 1 420.217 358.255 cm 0 0 m
0 7.97 l
S
Q
BT
6.9738 0 0 6.9738 423.2498 360.6464 Tm
(21.84/14.59)Tj
ET
q 1 0 0 1 459.605 358.255 cm 0 0 m
0 7.97 l
S
Q
BT
6.9738 0 0 6.9738 464.3829 360.6464 Tm
[(9.98/6.45)-1188.1(9.75/)-250(6.59)]TJ
ET
q 1 0 0 1 362.556 350.285 cm 0 0 m
0 7.97 l
S
Q
BT
6.9738 0 0 6.9738 369.9477 352.6764 Tm
(1)Tj
ET
q 1 0 0 1 380.828 350.285 cm 0 0 m
0 7.97 l
S
Q
BT
6.9738 0 0 6.9738 387.3487 352.6764 Tm
(0.95/2.04)Tj
ET
q 1 0 0 1 420.217 350.285 cm 0 0 m
0 7.97 l
S
Q
BT
6.9738 0 0 6.9738 423.2498 352.6764 Tm
(23.65/19.19)Tj
ET
q 1 0 0 1 459.605 350.285 cm 0 0 m
0 7.97 l
S
Q
BT
6.9738 0 0 6.9738 462.6389 352.6764 Tm
[(11.22/9.21)-813.2(11.33/9.40)]TJ
ET
.797 w
q 1 0 0 1 306.365 348.17 cm 0 0 m
224.446 0 l
S
Q
BT
/F1 1 Tf
9.9626 0 0 9.9626 312.4176 335.0403 Tm
[(Attack)-276.9(Rotation)-278(Only)70.1(.)]TJ
/F2 1 Tf
9.8493 0 TD
[(Coordinate)-276.9(attack)-278(is)-277(manipulat-)]TJ
-11.0493 -1.2 TD
[(ing)-276(each)-276(point\220)55(s)-277(xyz)-276(position.)-388(In)-277(contrast,)-282(our)-277(method)-276(treat)]TJ
T*
[(each)-372(LiD)40(AR)-372(pack)10(et)-373(as)-372(a)-372(rigid)-372(body)65(,)-403(therefore)-372(we)-372(can)-373(at-)]TJ
0 -1.2001 TD
[(tack)-314(the)-313(rotation.)-501.9(From)-313(T)80(able)]TJ
0 .89 .94 .28 k
12.369 0 TD
(1)Tj
/Cs8 cs 1 scn
.814 0 TD
[(we)-314(can)-313<936e64>-314(that)-314(attacking)]TJ
-13.183 -1.2 TD
[(classi\223cation)-385.9(in)-385(stage-2)-386(is)-386(still)-386(the)-385(most)-386(po)25(werful)-386(w)10(a)0(y)-386(t)0(o)]TJ
T*
[(fool)-227(PointRCNN.)-227(Besides,)-231.9(attacking)-227(rotation)-226.9(achie)25(v)15(e)0(s)-227(more)]TJ
T*
[(performance)-375.9(drop)-376.9(compared)-375.9(to)-376(attacking)-377(translation,)]TJ
/F6 1 Tf
22.0347 0 TD
-.015 Tc
[(e.)-15(g)]TJ
/F2 1 Tf
1.179 0 TD
0 Tc
(.,)Tj
-23.2137 -1.2 TD
[(in)-360(easy)65(,)-387(moderate,)-387(and)-360(hard)-360(situations,)-387(AP)-360(is)-360(respecti)25(v)15(ely)]TJ
T*
[(decreased)-517.9(by)]TJ
/F18 1 Tf
5.9772 0 TD
(45)Tj
/F8 1 Tf
1 0 TD
(.)Tj
/F18 1 Tf
.2777 0 TD
(09)Tj
/F2 1 Tf
1.5176 0 TD
(\()Tj
/F18 1 Tf
.333 0 TD
(95)Tj
/F8 1 Tf
1 0 TD
(.)Tj
/F18 1 Tf
.2777 0 TD
(0%)Tj
/F2 1 Tf
1.3334 0 TD
(\),)Tj
/F18 1 Tf
1.1675 0 TD
(20)Tj
/F8 1 Tf
1 0 TD
(.)Tj
/F18 1 Tf
.2777 0 TD
(76)Tj
/F2 1 Tf
1.5176 0 TD
(\()Tj
/F18 1 Tf
.333 0 TD
(96)Tj
/F8 1 Tf
.9999 0 TD
(.)Tj
/F18 1 Tf
.2778 0 TD
(3%)Tj
/F2 1 Tf
1.3333 0 TD
[(\))-518(and)]TJ
/F18 1 Tf
2.8122 0 TD
(20)Tj
/F8 1 Tf
1 0 TD
(.)Tj
/F18 1 Tf
.2777 0 TD
(30)Tj
/F2 1 Tf
-22.7136 -1.2001 TD
(\()Tj
/F18 1 Tf
.3329 0 TD
(97)Tj
/F8 1 Tf
1 0 TD
(.)Tj
/F18 1 Tf
.2778 0 TD
(1%)Tj
/F2 1 Tf
1.3333 0 TD
[(\))-411(i)0(n)-411(comparison)-410(with)-411(original)-411(PointRCNN.)-411(More-)]TJ
-2.9441 -1.2 TD
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T*
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