Illusion of Depth: Revealing Hidden Stereo Vision Vulnerabilities in Depth Estimation

Simple repeating patterns let attackers shift stereo-camera depth estimates by up to 20 meters, triggering emergency braking in autonomous driving frameworks at 40 km/h.

The paper reveals an intrinsic vulnerability in stereo cameras stemming from pixel sampling and calibration processes, letting attackers finely control estimated depth of real obstacles using simple repeating patterns without adversarial ML techniques. The attack was evaluated against BM and SGBM stereo matching algorithms, deep learning models PSMNet, MoCha-Stereo, and UniMatch, the stereo-LiDAR fusion model SGM-DDC, and commercial cameras ZED2 and Intel RealSense D435; on ZED2, obstacles can be displaced up to 20 meters farther or 12 meters closer. A 0.5-second attack triggered emergency braking in a popular autonomous driving framework, with feasibility confirmed at driving speeds up to 40 km/h using CARLA. State-of-the-art defenses proved ineffective, and the authors propose a similarity-score strategy to dynamically detect and suppress depth discrepancies.