Catching LiDAR Ghost Cars by Their Missing Shadow

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A visualisation of the USENIX Security 2020 paper Towards Robust LiDAR-based Perception in Autonomous Driving. A photodiode synced to the victim LiDAR lets an infrared laser inject fake echoes 5 to 8 m ahead; 60 spoofed points, where a real car returns about 2,000, reach roughly 80% attack success. The defence CARLO looks for the laser shadow behind every detected box: a real car blocks the beam, a fake one does not, cutting attack success to 5.5%.