Adversarial camouflage is a widely used physical attack against vehicle detectors for its superiority in multiview attack performance. One promising approach involves using differentiable neural renderers to facilitate adversarial camouflage optimization through gradient back-propagation. However, existing methods often struggle to capture environmental characteristics during the rendering process or produce adversarial textures that can precisely map to the target vehicle. Moreover, these approaches neglect diverse weather conditions, reducing the efficacy of generated camouflage across varying weather scenarios. To tackle these challenges, we propose a robust and accurate camouflage generation method, namely RAUCA. The core of RAUCA is a novel neural rendering component, End-to-End Neural Renderer Plus (E2E-NRP), which can accurately optimize and project vehicle textures and render images with environmental characteristics such as lighting and weather. In addition, we integrate a multi-weather dataset for camouflage generation, leveraging the E2E-NRP to enhance the attack robustness. Experimental results on six popular object detectors show that RAUCA-final outperforms existing methods in both simulation and real-world settings.

Adversarial camouflage is a widely used physical attack against vehicle detectors for its superiority in multi-view attack performance. One promising approach involves using differentiable neural renderers to facilitate adversarial camouflage optimization through gradient back-propagation. However, existing methods often struggle to capture environmental characteristics during the rendering process or produce adversarial textures that can precisely map to the target vehicle, resulting in suboptimal attack performance. Moreover, these approaches neglect diverse weather conditions, reducing the efficacy of generated camouflage across varying weather scenarios. To tackle these challenges, we propose a robust and accurate camouflage generation method, namely RAUCA. The core of RAUCA is a novel neural rendering component, Neural Renderer Plus (NRP), which can accurately project vehicle textures and render images with environmental characteristics such as lighting and weather. In addition, we integrate a multi-weather dataset for camouflage generation, leveraging the NRP to enhance the attack robustness. Experimental results on six popular object detectors show that RAUCA consistently outperforms existing methods in both simulation and real-world settings.

Prior works on physical adversarial camouflage against vehicle detectors mainly focus on the effectiveness and robustness of the attack. The current most successful methods optimize 3D vehicle texture at a pixel level. However, this results in conspicuous and attention-grabbing patterns in the generated camouflage, which humans can easily identify. To address this issue, we propose a Customizable and Natural Camouflage Attack (CNCA) method by leveraging an off-the-shelf pre-trained diffusion model. By sampling the optimal texture image from the diffusion model with a user-specific text prompt, our method can generate natural and customizable adversarial camouflage while maintaining high attack performance. With extensive experiments on the digital and physical worlds and user studies, the results demonstrate that our proposed method can generate significantly more natural-looking camouflage than the state-of-the-art baselines while achieving competitive attack performance.