ESTIMATING OBJECT KINEMATICS USING CORRELATED DATA PAIRS

The disclosed technology provides solutions for improving perception systems and in particular for improving kinematics models used to estimate motion characteristics of objects in an autonomous vehicle (AV) environment. A process of the disclosed technology can include steps for analyzing sensor data of a subject vehicle to identify a remote vehicle represented by the sensor data, estimating, using a kinematics model, predicted kinematic characteristics of the remote vehicle, and determining, based on data associated with the remote vehicle, ground-truth kinematic characteristics of the remote vehicle. In some aspects, the process can further include steps for validating the predicted kinematic characteristics of the remote vehicle using the ground-truth kinematic characteristics of the remote vehicle. Systems and machine-readable media are also provided.