A method in a multiprocessor system for processing multiple perception streams is disclosed. The method comprises: reading data from a plurality of perception streams according to a reading schedule determined by a predetermined policy, each perception stream comprising perception data from a different perception sensor; assigning a unique identification tag to each perception stream; writing eachperception stream with its unique identification tag to a server input queue based on the predetermined policy; and processing the tagged perception streams using a server. The processing includes: retrieving tagged perception streams from the server input queue; applying a processing algorithm to process the retrieved tagged perception streams; and outputting the processed perception streams toa server output queue. The method further includes retrieving the processed perception streams from the server output queue and dispatching each retrieved processed perception stream to an appropriatepost-processing destination based on the tag associated with the retrieved processed perception stream.
ARCHITECTURE AND METHOD SUPPORTING MULTIPLE VISION STREAM USING SHARED SERVER ON EMBEDDED PLATFORM