Detecting adversarial samples by a vision based perception system

A non-transitory machine-readable medium having instructions stored therein, which when executed by a processor, cause the processor to perform operations, the operations comprising:

• receiving a first image captured by a capturing device of an autonomous driving vehicle (ADV);
• performing an image transformation to transform the first image to a second image;
• applying an object detection model to the first image and the second image to generate a first output and a second output, respectively;
• calculating a similarity metric between the first output and the second output;
• and
• detecting that 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 predetermined threshold.

A data processing system, comprising:

• a processor;
• and
• a memory coupled to the processor to store instructions, which when executed by the processor, cause the processor to perform operations, the operations including receiving a first image captured by a capturing device of an autonomous driving vehicle (ADV),
• performing an image transformation to transform the first image to a second image,
• applying an object detection model to the first image and the second image to generate a first output and a second output, respectively,
• calculating a similarity metric between the first output and the second output, and
• detecting that 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 predetermined threshold.