Perception in autonomous vehicles (AVs) involves the intricate process of interpreting environmental data to facilitate safe, efficient, and reliable navigation in complex driving scenarios. Serving as one of the fundamental pillars supporting autonomous driving systems, perception enables vehicles to perform several critical functions. This includes detecting a wide variety of static and dynamic objects, accurately classifying and tracking these objects over time, and interpreting their movements to forecast future states. Beyond object recognition, perception encompasses the identification and interpretation of lane markings to ensure proper vehicle positioning, recognition and understanding of traffic signs to ensure compliance with road regulations, and the prediction of complex environmental dynamics such as pedestrian and vehicle behaviors.