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 each perception 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 to a 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 appropriate post-processing destination based on the tag associated with the retrieved processed perception stream.