We consider discrete-time one-dimensional random dynamical systems with bounded noise, which generate an associated set-valued dynamical system. We provide necessary and sufficient conditions for a discontinuous bifurcation of a minimal invariant set of the set-valued dynamical system in terms of the derivatives of the so-called extremal maps. We propose an algorithm for reconstructing the derivatives of the extremal maps from a time series that is generated by iterations of the original random dynamical system. We demonstrate that the derivative reconstructed for different parameters can be used as an early-warning signal to detect an upcoming bifurcation, and apply the algorithm to the bifurcation analysis of the stochastic return map of the Koper model, which is a three-dimensional multiple time scale ordinary differential equation used as prototypical model for the formation of mixed-mode oscillation patterns. We apply our algorithm to data generated by this map to detect an upcoming transition.