SAFR-AV: Safety Analysis of Autonomous Vehicles Using Real World Data: An End-to-End Solution for Real World Data Driven Scenario-Based Testing for Pre-Certification of AV Stacks. - Sagar Pathrudkar; Saadhana Venkataraman; Deepika Kanade; Aswin Ajayan; Palash Gupta; Shehzaman Salim Khatib; Vijaya Sarathi Indla; Saikat Mukherjee (VEHITS, 2023)