Abstract: An object recognition determination produced by a perception system from data received from a ranging sensor system can be verified. A certificate can be produced that includes data for points of readings from the ranging sensor system. The points can have been segmented, by the perception system, into point sets that correspond to objects in an environment of a cyber-physical system. The certificate can also include lists of pairs of points in a point set and a velocity of the point set. A test of information in the certificate can be performed. Based on a result of the test: a rectification can be made to the perception system or the ranging sensor system or a communication can be transmitted to a control signal production module configured to produce, in response to the communication, a control signal to be transmitted to an actuator system configured to control the cyber-physical system.