PerceMon: Online Monitoring for Perception Systems

Anand Balakrishnan, Jyotirmoy Deshmukh, Bardh Hoxha, Tomoya Yamaguchi, Georgios Fainekos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Scopus citations


Perception algorithms in autonomous vehicles are vital for the vehicle to understand the semantics of its surroundings, including detection and tracking of objects in the environment. The outputs of these algorithms are in turn used for decision-making in safety-critical scenarios like collision avoidance, and automated emergency braking. Thus, it is crucial to monitor such perception systems at runtime. However, due to the high-level, complex representations of the outputs of perception systems, it is a challenge to test and verify these systems, especially at runtime. In this paper, we present a runtime monitoring tool, PerceMon that can monitor arbitrary specifications in Timed Quality Temporal Logic (TQTL) and its extensions with spatial operators. We integrate the tool with the CARLA autonomous vehicle simulation environment and the ROS middleware platform while monitoring properties on state-of-the-art object detection and tracking algorithms.

Original languageEnglish (US)
Title of host publicationRuntime Verification - 21st International Conference, RV 2021, Proceedings
EditorsLu Feng, Dana Fisman
PublisherSpringer Science and Business Media Deutschland GmbH
Number of pages12
ISBN (Print)9783030884932
StatePublished - 2021
Event21st International Conference on Runtime Verification, RV 2021 - Virtual, Online
Duration: Oct 11 2021Oct 14 2021

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume12974 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference21st International Conference on Runtime Verification, RV 2021
CityVirtual, Online


  • Autonomous driving
  • Perception monitoring
  • Temporal logic

ASJC Scopus subject areas

  • Theoretical Computer Science
  • General Computer Science


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