@article{onthesimulationofperceptionerrorsin,
  title = {PEM: Perception Error Model for Virtual Testing of Autonomous Vehicles},
  author = {Andrea Piazzoni and Jim Cherian and Justin Dauwels and Lap-Pui Chau},
  year = {2023},
  eprint = {2302.11919},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2302.11919v2},
}