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Automated vehicles (AV) heavily depend on robust perception systems. Currentmethods for evaluating vision systems focus mainly on frame-by-frameperformance. Such evaluation methods appear to be inadequate in assessing theperformance of a perception subsystem when used within an AV. In this paper, wepresent a logic -- referred to as Spatio-Temporal Perception Logic (STPL) --which utilizes both spatial and temporal modalities. STPL enables reasoningover perception data using spatial and temporal operators. One major advantageof STPL is that it facilitates basic sanity checks on the functionalperformance of the perception system, even without ground-truth data in somecases. We identify a fragment of STPL which is efficiently monitorable offlinein polynomial time. Finally, we present a range of specifications for AVperception systems to highlight the types of requirements that can be expressedand analyzed through offline monitoring with STPL.

Formalizing and Evaluating Requirements of Perception Systems for Automated Vehicles using Spatio-Temporal Perception Logic