{"id":5899,"date":"2023-04-07T17:08:06","date_gmt":"2023-04-07T08:23:06","guid":{"rendered":"https:\/\/www.inforsec.org\/wp\/?p=5899"},"modified":"2023-04-07T17:19:36","modified_gmt":"2023-04-07T08:34:36","slug":"%e3%80%90usenix-security-2022%e8%ae%ba%e6%96%87%e5%88%86%e4%ba%ab%e3%80%91%e5%8f%8c%e6%98%9f%e6%94%bb%e5%87%bb%ef%bc%9a%e5%af%b9%e4%ba%8e%e8%87%aa%e5%8a%a8%e7%b3%bb%e7%bb%9f%e4%b8%ad%e6%b7%b1%e5%ba%a6","status":"publish","type":"post","link":"http:\/\/202.112.238.40\/wp\/?p=5899","title":{"rendered":"\u3010Usenix Security 2022\u8bba\u6587\u5206\u4eab\u3011\u53cc\u661f\u653b\u51fb\uff1a\u5bf9\u4e8e\u81ea\u52a8\u7cfb\u7edf\u4e2d\u6df1\u5ea6\u4f30\u8ba1\u907f\u969c\u7b97\u6cd5\u7684\u8fdc\u7a0b\u653b\u51fb"},"content":{"rendered":"\n<h4 class=\"wp-block-heading\"><strong>\u524d\u8a00<\/strong><\/h4>\n\n\n\n<p class=\"wp-block-paragraph\">\u672c\u6587\u6839\u636e\u82f1\u6587\u539f\u6587\u201c DoubleStar: Long-Range Attack Towards Depth Estimation based Obstacle Avoidance in Autonomous Systems\u201d\u6574\u7406\u64b0\u5199\u3002\u539f\u6587\u53d1\u8868\u572831st USENIX Security Symposium (USENIX Security 22). 2022. \u672c\u6587\u8f83\u539f\u6587\u6709\u6240\u5220\u51cf\uff0c\u8be6\u7ec6\u5185\u5bb9\u53ef\u53c2\u8003\u539f\u6587\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">01<strong>\u4ecb\u7ecd<\/strong><\/h4>\n\n\n\n<p class=\"wp-block-paragraph\">\u969c\u788d\u7269\u68c0\u6d4b\u548c\u907f\u8ba9\u88ab\u5e7f\u6cdb\u5e94\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86 \uff0c\u673a\u5668\u4eba\u8f66\u8f86\uff0c 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http:\/\/202.112.238.40\/wp\/wp-content\/uploads\/2023\/04\/13-162x150.png 162w\" sizes=\"auto, (max-width: 386px) 100vw, 386px\" \/><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\" style=\"text-align:center\"><strong>\u56fe1b<\/strong><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u53cc\u661f\u653b\u51fb\u5305\u62ec\u4e24\u79cd\u653b\u51fb\u5f62\u5f0f\uff1abeams\u653b\u51fb\u548corbs\u653b\u51fb\u3002\u4ed6\u4eec\u4e3b\u8981\u5229\u7528\u6df1\u5ea6\u4f30\u8ba1\u7b97\u6cd5\u4e2d\u7684\u865a\u5047\u7acb\u4f53\u5339\u914d\u548c\u5149\u5b66\u6210\u50cf\u4e2d\u7684\u955c\u5934\u7729\u5149\u6548\u5e94\u6765\u5b9e\u73b0\u3002beams 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\u5982\u4f55\u5728\u4e0d\u63a5\u5165\u7acb\u4f53\u76f8\u673a\u7684\u60c5\u51b5\u4e0b\u4f30\u8ba1\u4eba\u5de5\u969c\u788d\u7269\u7684\u4f4d\u7f6e\uff1f\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e24\u4e2a\u96be\u70b9\uff0c\u6211\u4eec\u4e3abeams\u548corbs\u653b\u51fb\u8bbe\u8ba1\u4e86 3 \u79cd\u4e0d\u540c\u7684\u653b\u51fb\u6a21\u5f0f\uff0c\u4e00\u5171\u67096\u79cd\u4e0d\u540c\u7684\u653b\u51fb\u6a21\u5f0f\u7ec4\u5408\u3002\u6211\u4eec\u5c06\u4e0d\u540c\u7c7b\u578b\u7684\u653b\u51fb\u5408\u5e76\u8d77\u6765\uff0c\u76f8\u4e92\u8865\u5145\uff0c\u6269\u5927\u653b\u51fb\u8303\u56f4\uff0c\u540c\u65f6\u4fdd\u6301\u8f83\u9ad8\u7684\u653b\u51fb\u6210\u529f\u7387\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u6211\u4eec\u5728\u6a21\u62df\u548c\u5b9e\u9645\u5b9e\u9a8c\u4e2d\u9a8c\u8bc1\u4e86\u53cc\u661f\u653b\u51fb\u7684\u529f\u6548\u3002\u5728\u9a8c\u8bc1\u8fc7\u7a0b\u4e2d\uff0c\u6211\u4eec\u5728\u6700\u53d7\u6b22\u8fce\u7684\u65e0\u4eba\u9a7e\u9a76\u8f66\u8f86\u9879\u76ee\u4e4b\u4e00 Ardupilot \u4e0a\u8fd0\u884c\u6a21\u62df\uff0c\u4ee5\u5c55\u793a\u5bf9\u65e0\u4eba\u673a\u548c\u8f66\u8f86\u7684\u6f5c\u5728\u653b\u51fb\u3002\u5bf9\u4e8e\u6982\u5ff5\u9a8c\u8bc1\u5b9e\u9a8c\uff0c\u6211\u4eec\u5bf9\u4e24\u53f0\u4e13\u4e3a\u81ea\u4e3b\u7cfb\u7edf\uff08\u4f8b\u5982\u673a\u5668\u4eba\u8f66\u8f86\u3001\u65e0\u4eba\u673a\u3001\u673a\u5668\u4eba\uff09\u8bbe\u8ba1\u7684\u5546\u7528\u7acb\u4f53\u76f8\u673a ZED \u548c\u82f1\u7279\u5c14 RealSense D415 \u4ee5\u53ca\u4e00\u6b3e\u6d41\u884c\u7684\u65e0\u4eba\u673a DJI Phantom 4 Pro V2 \u8fdb\u884c\u4e86\u653b\u51fb\u3002\u8bc4\u4f30\u7ed3\u679c\u8868\u660e\uff0c\u53cc\u661f\u653b\u51fb\u5728\u591c\u95f4\u53ef\u4ee5\u8fbe\u523015m\u7684\u8ddd\u79bb\uff0c\u767d\u5929\u53ef\u4ee5\u8fbe\u52308m\u7684\u8ddd\u79bb\uff0c\u5047\u969c\u788d\u7269\u7684\u6df1\u5ea6\u4ece0.5m\u523016m\uff0c\u8986\u76d6\u4e86DJI\u65e0\u4eba\u673a\u907f\u969c\u7cfb\u7edf\u4e2d\u969c\u788d\u7269\u6df1\u5ea6\u7684\u6574\u4e2a\u8303\u56f4\u3002\u6a21\u62df\u548c\u7269\u7406\u4e16\u754c\u5b9e\u9a8c\u90fd\u8868\u660e\uff0c\u4e00\u65e6\u6211\u4eec\u542f\u52a8\u653b\u51fb\uff0c\u53d7\u653b\u51fb\u7684\u8bbe\u5907\u5c31\u4f1a\u5931\u63a7\u3002\u6211\u4eec\u5efa\u7acb\u4e86\u4e00\u4e2a\u7f51\u7ad9\uff08https:\/\/fakedepth.github.io\/\uff09\u6765\u5c55\u793a\u6a21\u62df\u7ed3\u679c\u548c\u6f14\u793a\u89c6\u9891\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u672c\u6587\u505a\u51fa\u4ee5\u4e0b\u8d21\u732e\uff1a<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u25a0&nbsp;\u6211\u4eec\u63d0\u51fa\u53cc\u661f\u653b\u51fb\uff0c\u8fd9\u662f\u7b2c\u4e00\u6b21\u9488\u5bf9\u673a\u5668\u4eba\u8f66\u8f86\u548c\u65e0\u4eba\u673a\u907f\u969c\u7cfb\u7edf\u4e2d\u57fa\u4e8e\u7acb\u4f53\u89c6\u89c9\u7684\u6df1\u5ea6\u4f30\u8ba1\u7684\u653b\u51fb\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u25a0&nbsp;\u6211\u4eec\u662f\u7b2c\u4e00\u4e2a\u5bf9\u81ea\u6cbb\u7cfb\u7edf\u53d1\u8d77\u8fdc\u7a0b\u548c\u6301\u7eed\u653b\u51fb\u7684\u4eba\u3002\u901a\u8fc7\u4eff\u771f\uff0c\u6211\u4eec\u5c55\u793a\u4e86\u53cc\u661f\u653b\u51fb\u5b9e\u73b0\u4e86\u5bf9\u65e0\u4eba\u673a\u7684\u8fd0\u884c\u8f68\u8ff9\u64cd\u7eb5\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u25a0&nbsp;\u4e0d\u540c\u73af\u5883\u5149\u6761\u4ef6\u4e0b\uff0c\u6211\u4eec\u5728\u4e24\u53f0\u4e13\u4e3a\u673a\u5668\u4eba\u8f66\u8f86\u548c\u65e0\u4eba\u673a\uff08ZED \u548cIntel RealSense D415\uff09\u8bbe\u8ba1\u7684\u5546\u7528\u7acb\u4f53\u76f8\u673a\uff0c\u548c\u6700\u5148\u8fdb\u7684\u65e0\u4eba\u673a\u4e4b\u4e00\uff08DJI Phantom 4 Pro V2\uff09\u4e0a\u6210\u529f\u5b9e\u73b0\u4e86\u6211\u4eec\u7684\u653b\u51fb\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">02<strong>\u80cc\u666f<\/strong><\/h4>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>1. \u6df1\u5ea6\u4f30\u8ba1\u4e0e\u955c\u5934\u70ab\u5149\u6548\u679c<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"268\" src=\"https:\/\/www.inforsec.org\/wp\/wp-content\/uploads\/2023\/04\/14-1024x268.png\" alt=\"\" class=\"wp-image-5902\" srcset=\"http:\/\/202.112.238.40\/wp\/wp-content\/uploads\/2023\/04\/14-1024x268.png 1024w, http:\/\/202.112.238.40\/wp\/wp-content\/uploads\/2023\/04\/14-300x79.png 300w, http:\/\/202.112.238.40\/wp\/wp-content\/uploads\/2023\/04\/14-768x201.png 768w, http:\/\/202.112.238.40\/wp\/wp-content\/uploads\/2023\/04\/14-150x39.png 150w, http:\/\/202.112.238.40\/wp\/wp-content\/uploads\/2023\/04\/14-250x66.png 250w, http:\/\/202.112.238.40\/wp\/wp-content\/uploads\/2023\/04\/14.png 1080w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\" style=\"text-align:center\"><strong>\u56fe 2&nbsp;\u7acb\u4f53\u89c6\u89c9\u4e2d\u7684\u6df1\u5ea6\u4f30\u8ba1<\/strong><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u6df1\u5ea6\u4f30\u8ba1\u7b97\u6cd5\u4e3b\u8981\u7528\u4e8e\u81ea\u6cbb\u7cfb\u7edf\u4e2d\u4ee5\u68c0\u6d4b\u548c\u907f\u5f00\u969c\u788d\u7269\u3002\u57fa\u4e8e\u7acb\u4f53\u89c6\u89c9\u7684\u6df1\u5ea6\u4f30\u8ba1\u5c06 2D \u56fe\u50cf\u8f6c\u6362\u4e3a 3D \u6df1\u5ea6\u56fe\uff0c\u5176\u4e2d\u5305\u542b\u4e86\u573a\u666f\u5bf9\u8c61\u4e0e\u7acb\u4f53\u76f8\u673a\u7684\u8ddd\u79bb\u76f8\u5173\u7684\u4fe1\u606f\u3002\u5982\u56fe 2\u6240\u793a\uff0c\u7acb\u4f53\u76f8\u673a\u7c7b\u4f3c\u4e8e\u4eba\u7c7b\u7684\u53cc\u76ee\u89c6\u89c9\uff0c\u4f7f\u7528\u7acb\u4f53\u76f8\u673a\u8fdb\u884c\u6df1\u5ea6\u4f30\u8ba1\u4e3b\u8981\u6d89\u53ca\u7acb\u4f53\u5339\u914d\u548c\u4e09\u89d2\u6d4b\u91cf\u7684\u6982\u5ff5\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"730\" height=\"307\" src=\"https:\/\/www.inforsec.org\/wp\/wp-content\/uploads\/2023\/04\/15.png\" alt=\"\" class=\"wp-image-5903\" srcset=\"http:\/\/202.112.238.40\/wp\/wp-content\/uploads\/2023\/04\/15.png 730w, http:\/\/202.112.238.40\/wp\/wp-content\/uploads\/2023\/04\/15-300x126.png 300w, http:\/\/202.112.238.40\/wp\/wp-content\/uploads\/2023\/04\/15-150x63.png 150w, http:\/\/202.112.238.40\/wp\/wp-content\/uploads\/2023\/04\/15-250x105.png 250w\" sizes=\"auto, (max-width: 730px) 100vw, 730px\" \/><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\" style=\"text-align:center\"><strong>\u56fe 3 (a) \u955c\u5934\u7729\u5149\u6548\u5e94\uff1b(b) \u5149\u6e90\u4e0e\u70ab\u5149\u4f4d\u7f6e\u7684\u5173\u7cfb\u3002<\/strong><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u955c\u5934\u7729\u5149\u6548\u5e94\u662f\u4e00\u79cd\u7531\u5f3a\u5149\u901a\u8fc7\u975e\u7406\u60f3\u955c\u5934\u7cfb\u7edf\u7684\u6563\u5c04\u548c\u53cd\u5c04\u5f15\u8d77\u7684\u73b0\u8c61\uff0c\u5176\u4e2d\u56fe\u50cf\u4e0a\u4f1a\u51fa\u73b0\u70ab\u5149\uff08\u56fe 3\uff08a\uff09\uff09\u3002\u7406\u60f3\u60c5\u51b5\u4e0b\uff0c\u6240\u6709\u5149\u6e90\u90fd\u5e94\u76f4\u63a5\u901a\u8fc7\u955c\u5934\u5230\u8fbe\u56fe\u50cf\u4f20\u611f\u5668\uff0c\u5b83\u4eec\u4f1a\u5728\u56fe\u50cf\u4e2d\u5f62\u6210\u660e\u4eae\u7684\u7729\u5149\u3002\u7136\u800c\uff0c\u7531\u4e8e\u955c\u5934\u7684\u7f3a\u9677\uff0c\u4e00\u5c0f\u90e8\u5206\u5149\u7ebf\u5728\u5230\u8fbe\u56fe\u50cf\u4f20\u611f\u5668\u4e4b\u524d\u4f1a\u5728\u955c\u5934\u7cfb\u7edf\u5185\u591a\u6b21\u53cd\u5c04\uff0c \u8fd9\u79cd\u53cd\u5c04\u5c06\u5bfc\u81f4\u56fe\u50cf\u4e0a\u51fa\u73b0\u591a\u4e2a\u70ab\u5149\u3002\u5728\u6b63\u5e38\u5149\u7167\u6761\u4ef6\u4e0b\uff0c\u8fd9\u4e9b\u70ab\u5149\u901a\u5e38\u662f\u4e0d\u53ef\u89c1\u7684\u3002\u4f46\u662f\uff0c\u5f53\u5b58\u5728\u5f3a\u5149\u6e90\uff08\u4f8b\u5982\uff0c\u592a\u9633\u3001\u706f\u6ce1\u3001\u6295\u5f71\u4eea\uff09\u65f6\uff0c\u955c\u5934\u70ab\u5149\u4f1a\u53d8\u5f97\u975e\u5e38\u660e\u663e\u3002\u6839\u636e\u6211\u4eec\u7684\u5b9e\u9a8c\uff0c\u70ab\u5149\u7684\u4f4d\u7f6e\u4e0e\u5149\u6e90\u4e4b\u95f4\u7684\u5173\u7cfb\u662f\u4e2d\u5fc3\u5bf9\u79f0\u7684\uff0c\u5982\u56fe \u56fe 3\uff08b\uff09 \u6240\u793a\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>2. \u6df1\u5ea6\u611f\u77e5\u7684\u6f0f\u6d1e<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"463\" src=\"https:\/\/www.inforsec.org\/wp\/wp-content\/uploads\/2023\/04\/16-1024x463.png\" alt=\"\" class=\"wp-image-5904\" srcset=\"http:\/\/202.112.238.40\/wp\/wp-content\/uploads\/2023\/04\/16-1024x463.png 1024w, http:\/\/202.112.238.40\/wp\/wp-content\/uploads\/2023\/04\/16-300x136.png 300w, http:\/\/202.112.238.40\/wp\/wp-content\/uploads\/2023\/04\/16-768x347.png 768w, http:\/\/202.112.238.40\/wp\/wp-content\/uploads\/2023\/04\/16-150x68.png 150w, http:\/\/202.112.238.40\/wp\/wp-content\/uploads\/2023\/04\/16-250x113.png 250w, http:\/\/202.112.238.40\/wp\/wp-content\/uploads\/2023\/04\/16.png 1080w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\" style=\"text-align:center\"><strong>\u56fe 4 \u53cc\u661f\u653b\u51fb\u767d\u5929\u653b\u51fb ZED \u7acb\u4f53\u76f8\u673a\u3002<\/strong><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u6df1\u5ea6\u4f30\u8ba1\u7b97\u6cd5\u5bb9\u6613\u88ab\u653b\u51fb\u7684\u4e3b\u8981\u539f\u56e0\u662f\u5b83\u4eec\u7f3a\u4e4f\u9ad8\u9636\u611f\u77e5\u3002\u4e0e\u4eba\u7c7b\u611f\u77e5\u4e0d\u540c\uff0c\u6b64\u7c7b\u7b97\u6cd5\u7684\u51b3\u7b56\u5e76\u975e\u57fa\u4e8e\u4e2a\u4eba\u7ecf\u9a8c\u3002\u76f8\u53cd\uff0c\u5b83\u4eec\u65e8\u5728\u4ee5\u9ad8\u7f6e\u4fe1\u5ea6\u5c06\u76f8\u4f3c\u7684\u7279\u5f81\uff08\u4f8b\u5982\uff0c\u5f62\u72b6\u3001\u989c\u8272\uff09\u5339\u914d\u4e3a\u7acb\u4f53\u5bf9\u5e94\uff0c\u53ea\u8981\u5b83\u4eec\u5728\u5de6\u53f3\u56fe\u50cf\u4e2d\u5904\u4e8e\u76f8\u5bf9\u5408\u7406\u7684\u4f4d\u7f6e\u5373\u53ef\u3002\u56e0\u6b64\uff0c\u5927\u591a\u6570\u6df1\u5ea6\u4f30\u8ba1\u7b97\u6cd5\u90fd\u4f1a\u53d7\u5230\u7269\u7406\u6270\u52a8\u7684\u5f71\u54cd\u3002<\/p>\n\n\n\n<p 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<\/span><\/a><\/p>\n","protected":false},"author":7,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[5],"tags":[],"class_list":["post-5899","post","type-post","status-publish","format-standard","hentry","category-research"],"_links":{"self":[{"href":"http:\/\/202.112.238.40\/wp\/index.php?rest_route=\/wp\/v2\/posts\/5899","targetHints":{"allow":["GET"]}}],"collection":[{"href":"http:\/\/202.112.238.40\/wp\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/202.112.238.40\/wp\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/202.112.238.40\/wp\/index.php?rest_route=\/wp\/v2\/users\/7"}],"replies":[{"embeddable":true,"href":"http:\/\/202.112.238.40\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=5899"}],"version-history":[{"count":2,"href":"http:\/\/202.112.238.40\/wp\/index.php?rest_route=\/wp\/v2\/posts\/5899\/revisions"}],"predecessor-version":[{"id":5918,"href":"http:\/\/202.112.238.40\/wp\/index.php?rest_route=\/wp\/v2\/posts\/5899\/revisions\/5918"}],"wp:attachment":[{"href":"http:\/\/202.112.238.40\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=5899"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/202.112.238.40\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=5899"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/202.112.238.40\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=5899"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}