| 1 Function | 2 Reference Model | 3 Input/Output Data |
| 4 SubAIMs | 5 JSON Metadata | 6 Profiles |
| 7 Reference Software | 8 Conformance Texting | 9 Performance Assessment |
1 Functions
The LiDAR Scene Description (CAV-RSD) V1.0 AIM Produces LiDAR Scene Descriptors from a LiDAR Object, other Descriptors of the same Scene:
| Receives | LiDAR Object | From LiDAR sensor. |
| Spatial Attitude | CAV’s Spatial Attitude from Spatial Attitude Generation. | |
| Other Scene Descriptors | Scene Descriptors from other ESTs or earlier version of BED or FED. | |
| Produces | LiDAR Scene Descriptors | Sent to Basic Environment Description. |
| Alert | Sent to Autonomous Motion Subsystem. |
2 Reference Architecture
Figure 1 depicts the Reference Architecture of the LiDAR Scene Description (CAV-RSD) AIM.
Figure 1 – The LiDAR Scene Description (CAV-RSD) AIM
3 I/O Data
Table 1 specifies the Input and Output Data of the LiDAR Scene Description (CAV-RSD) AIM.
Table 1 – I/O Data of the LiDAR Scene Description (CAV-RSD) AIM.
| Input Data | Description |
| Spatial Attitude | CAV’s Spatial Attitude From the Spatial Attitude Generation AIM. |
| LiDAR Object | From LiDAR sensor. |
| Multiple Environment Descriptors | Previously computed Basic/Full Environment Descriptors and Other EST Scene Descriptors. |
| Output Data | Description |
| Alert | Forwarded to Autonomous Motion Subsystem. |
| 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
