To detect adversarial samples (e.g., input images) by a vision based perception system for robotic systems or autonomous driving vehicles (ADVs).SOLUTION: In one embodiment, a system receives a first image captured by a capturing device of an ADV 501. The system applies an image transformation to the first image to generate a second image 503. The system applies an object detection model to the first image and the second image to generate a first output 513 and a second output 515, respectively. The system calculates a similarity metric between the first output and the second output 507. The system detects the first image as an adversarial sample if a temporal variation of the similarity metric between the first image and a prior image is above a threshold 511.SELECTED DRAWING: Figure 5
DETECTING ADVERSARIAL SAMPLES BY VISION BASED PERCEPTION SYSTEM