SHIELD
Spectral Hybrid Interference Elimination LiDAR DefenseBachelor thesis · 2025—26
Detecting LiDAR spoofing from a single frame, while the vehicle is standing still.
Published spoofing defences compare consecutive frames, so they lose their signal at exactly the moment a wrong perception decision costs the most: when the vehicle is not moving. I made the Short-Time Fourier Transform of one revolution the detection primitive, which needs no previous frame at all. The first result was 97.1% in simulation and 8.2% on real sensor data — and the collapse, not the simulation figure, became the finding.
- A systematic review of IEEE Xplore, the ACM Digital Library and arXiv (2017–2025) found no prior time–frequency work in LiDAR security.
- Trace-based injection: synthetic attacks placed onto authentic UGV recordings, giving a 3,836-sample hybrid dataset and taking real-world accuracy from 8.2% back to 79.3%.
- Final system on authentic captures: 81.6% accuracy, 94.1% precision, 87.3% recall, 3.1% false positives on clean frames.
- 38.8 ms per frame, inside the 100 ms a 10 Hz LiDAR allows.
- STFT
- Random Forest
- CFAR
- Point clouds
- Signal processing
81.6% accuracy · 38.8 ms per frameOpen the SHIELD case