1       Definition

LiDAR Data are produced by a “time-of-flight”-based Light Detection and Ranging (LiDAR) active sensor able to measure the distance and speed of objects from the time taken by a signal emitted by the sensor to hit an object and be reflected back to the source.

2       Functional Requirements

LiDAR Data

  1. Includes the voxel’s:
    1. Distance from the sensor.
    2. Grayscale obtained by the intensity variation of the reflected light.
    3. Colour obtained by using more than one wavelength.
    4. Velocity by using the Doppler shift in frequency caused by motion, or by taking the position at different times.
  2. Has
    1. Angular resolution ~0.1º vertical and ~1º horizontal
    2. Maximum field capture of ~40º vertical.

3       Syntax

https://schemas.mpai.community/CAV2/V1.0/data/LiDARObject.json

4       Semantics

Label Size Description
Header N1 Bytes LiDAR Object Data Header
– Standard-LiDARObject 9 Bytes The characters “CAV-LIO-V”
– Version N2 Bytes Major version – 1 or 2 characters
– Dot-separator 1 Byte The character “.”
– Subversion N3 Bytes Minor version – 1 or 2 characters
MInstanceID N4 Bytes Identifier of M-Instance.
LiDARObjectID N5 Bytes Identifier of the LiDAR Object.
ParentLiDARObjects N6 Bytes Identifier(s) of Parent LiDAR Objects.
LiDARObjectSpace-Time N7 Bytes Space-Time info of Data Object.
LiDARDataQualifier N8 Bytes LiDAR Data Qualifier.
LiDARDataAnnotations[] N9 Bytes Annotations of LiDAR Data
– Annotation N10 Bytes ID of Annotation
– AnnotationSpaceTime N11 Bytes Where/when Annotation is attached.
– ProcessActionID N12 Bytes What is possible to do with the Annotation
LiDARDataLength N13 Bytes Number of Bytes of LiDAR Data
LiDARDataURI N14 Bytes URI of Data of LiDAR Data
DescrMetadata N15 Bytes Descriptive Metadata