TOOL FOR OFFLINE PERCEPTION COMPONENT EVALUATION

A computer-implemented method. Includes obtaining pointwise data indicating, for a plurality of time steps, a pointwise measurement of a state of an object detected by an object detection system. Includes obtaining, from a runtime model, runtime data indicating, for the plurality of time steps, a runtime estimate of the state of the object. Includes processing, by a benchmark model, the pointwise data to determine, for the plurality of time steps, a benchmark estimate of the state of the object. Includes evaluating a metric measuring, for the plurality of time steps, a deviation between the runtime estimate and the benchmark estimate of the state of the object. Includes updating, based on the on the evaluation of the metric, the runtime model.