FA3T: Feature-Aware Adversarial Attacks for Multi-modal Tracking

摘要

Multi-modal visual tracking leverages complementary sensor information to enhance robustness under challenging conditions. However, the security of multi-modal tracking systems remains largely unexplored. Existing attacks primarily target single-modal trackers or independently disrupt each modality, failing to exploit the inherent feature interactions and fusion mechanisms that define multi-modal tracking. As a result, these methods exhibit limited attack effectiveness and fail to assess multi-modal tracking systems' vulnerabilities accurately. Understanding these security risks is crucial, as adversarial threats could lead to severe failures in safety-critical applications. To address these challenges, a feature-aware adversarial attack, termed FA3T is proposed. It is designed to explicitly disrupt feature extraction and cross-modal alignment, thereby weakening the fusion process that multi-modal trackers rely on. To achieve this, a Frequency-Spatial Feature Separation (FSFS) module is constructed to perturb feature representations at multiple levels, weakening the modality-complementary advantages of multi-modal tracking. Furthermore, a Target Confusion Attack (TCA) module is devised to manipulate the target-background-template relationships, making it increasingly difficult for the tracker to distinguish the true target, significantly impairing tracking performance. Extensive experiments on five benchmark datasets (i.e., LasHeR, RGBT234, DepthTrack, VOT-RGBD2022, VisEvent) across three different modalities (RGB-T, RGB-D, and RGB-E) demonstrate that our attack substantially degrades state-of-the-art multi-modal trackers, exposing their susceptibility to adversarial threats.