1 Functions
The CAV-LSD AIM:
- Receives Input LiDAR, Spatial Attitude, and Basic Environment Descriptors.
- 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
