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Found 3 papers, 1 papers with code
Checklist to Transparently Define Test Oracles for TP, FP, and FN Objects in Automated Driving
Popular test oracles for the perception subsystem of driving automation systems identify true-positive (TP), false-positive (FP), and false-negative (FN) objects.
A Review of Testing Object-Based Environment Perception for Safe Automated Driving
Safety assurance of automated driving systems must consider uncertain environment perception.
6-Layer Model for a Structured Description and Categorization of Urban Traffic and Environment
To define those scenarios and operate in a complex real-world design domain, a structured description of the environment is needed.
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