Perspective Shift Attacks Against Optical Perception Sensors: A Novel Attack Vector on LiDAR and Camera

This repository contains the code to our work "Perspective Shift Attacks Against Optical Perception Sensors" where we show a attack vector against LiDAR and Camera. Please refer to the individiual README files inside each subfolder to get information on the respective tools:

• Digital Simulation: Contains the code to run the digitial simulation of our attack with individual subfolders for LiDAR and Camera.
• Defense: Contains the code of our proposed detection mechanism to detect perspective shift attacks with individual subfolders for LiDAR and Camera.

Reference Measurements from LiDAR and Camera

Please find real-world measurements for both LiDAR and camera in a separate download: Download Dataset

Citation

If you like our work, please consider citing us:

@inproceedings {2026_psa,
author = {Marco Calipari and Michael K{\"u}hr and Dominik Kulmer and Maximilian Luedecke and Mohammad Hamad and Sebastian Steinhorst},
title = {{Perspective-Shift} Attacks Against Optical Perception Sensors: A Novel Attack Vector on {LiDAR} and Camera},
booktitle = {4th USENIX Symposium on Vehicle Security and Privacy (VehicleSec 26)},
year = {2026},
isbn = {978-1-939133-56-4},
address = {Baltimore, MD},
pages = {283--299},
url = {https://www.usenix.org/conference/vehiclesec26/presentation/calipari},
publisher = {USENIX Association},
month = aug
}