Physical Adversarial Camouflage Through Gradient Calibration and Regularization

Abstract

The advancement of deep object detectors has greatly affected safety-critical fields like autonomous driving. However, physical adversarial camouflage poses a significant security risk by altering object textures to deceive detectors. Existing techniques struggle with variable physical environments, facing two main challenges: 1) inconsistent sampling point densities across distances hinder the gradient optimization from ensuring local continuity, and 2) updating texture gradients from multiple angles causes conflicts, reducing optimization stability and attack effectiveness. To address these issues, we propose a novel adversarial camouflage framework based on gradient optimization. First, we introduce a gradient calibration strategy, which ensures consistent gradient updates across distances by propagating gradients from sparsely to unsampled texture points, thereby expanding the attack's effective range. Additionally, we develop a gradient decorrelation method, which prioritizes and orthogonalizes gradients based on loss values, enhancing stability and effectiveness in multi-angle optimization by eliminating redundant or conflicting updates. Extensive experimental results on various detection models, angles, and distances show that our method significantly surpasses the state-of-the-art, with an average attack success rate (ASR) increase of 13.46\% across distances and 11.03\% across angles. Furthermore, experiments in real-world settings confirm the method's threat potential, highlighting the urgent need for more robust autopilot systems less prone to spoofing.