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1     Functions

The CAV-LSD AIM:

  1. Receives Input LiDAR, Spatial Attitude, and Basic Environment Descriptors.
  2. Produces LiDAR Scene Descriptors and Alert.

2      Reference Architecture

Figure 1 depicts the Reference Architecture of the LiDAR Scene Description AIM.

 

Figure 1 – The LiDAR Scene Description AIM

3      I/O Data

Table 1 specifies the Input and Output Data of the LiDAR Scene Description AIM.

Table 1 – I/O Data of the LiDAR Scene Description AIM

Input
Spatial Attitude Initial estimate of CAV’s Spatial Attitude From MAS.
Input LiDAR LiDAR Data
Basic Environment Descriptors Previously computed Basic Environment Descriptors
Output Description
Spatial Attitude Final Spatial Attitude
LiDAR Scene Descriptors Output LiDAR Scene Descriptors

4      SubAIMs

No SubAIMs.

5     JSON Metadata

https://schemas.mpai.community/CAV2/V1.0/AIMs/LiDARSceneDescription.json

6 Profiles

No Profiles