1 Definition
Data produced by a “time-of-flight”-based active sensor called Light Detection and Ranging (LiDAR) able to measure the distance and speed of objects from the time it takes for a signal emitted by the sensor to hit an object and be reflected.
2 Functional Requirements
Produces the distance of a voxel from the sensor, its grayscale by the intensity variation of the reflected light, its colour by using more than one wavelength, its velocity by using the Doppler shift in frequency caused by motion, or by taking the position at different times with an angular resolution ~0.1º vertical and ~1º horizontal with a maximum field capture ~40º vertical.
3 Syntax
https://schemas.mpai.community/CAV2/V1.0/data/InputLiDAR.json
4 Semantics
Label | Size | Description |
Header | N1 Bytes | Input LiDAR Header |
– Standard | 9 Bytes | The characters “CAV-ILI-V” |
– Version | N2 Bytes | Major version – 1 or 2 characters |
– Dot-separator | 1 Byte | The character “.” |
– Subversion | N3 Byte | Minor version – 1 or 2 characters |
MInstanceID | N4 Bytes | ID of the Virtual Space. |
InputLiDARID | N5 Bytes | ID of Input LiDAR. |
LiDARSensorID | N6 Bytes | ID of LiDAR Sensor. |
InputLiDARData | Ny Bytes | Set of Input LiDAR Data |
– InputLiDARQualifier | N12 Bytes | The Qualifier of Input LiDAR |
– InputLiDARPayload | N13 Bytes | The Payload of Input LiDAR |
– InputLiDARDataLength | N14 Bytes | The Length of Input LiDAR Data in Bytes |
– InputLiDARDataURI | N15 Bytes | URI of Input LiDAR Data |
DescrMetadata | N16 Bytes | Descriptive Metadata |
Label | Size | Description |
Header | N1 Bytes | Input LiDAR Header |
– Standard | 9 Bytes | The characters “CAV-ILI-V” |
– Version | N2 Bytes | Major version – 1 or 2 Bytes |
– Dot-separator | 1 Byte | The character “.” |
– Subversion | N3 Bytes | Minor version – 1 or 2 Bytes. |
InputLiDARID | N4 Bytes | Identifier of LiDAR Sensor. |
LiDARSensorID | N5 Bytes | IS of LiDAR Sensor |
InputLiDARTimeSpace | N6 Bytes | Space and Time of Input LiDAR Data. |
InputLiDARData | N7 Bytes | Set of Input LiDAR Data |
– InputLiDARFormatID | N6 Bytes | Format ID of Input LiDAR Data. |
– InputLiDARDataLength | N9 Bytes | Data Length of Input LiDAR Data in Bytes. |
– InputLiDARDataURI | N10 Bytes | Location of Input LiDAR Data. |
InputLiDARAttributes[] | N11 Bytes | Set of Input LiDAR Data Attributes |
– InputLiDARAttributeID | N12 Bytes | ID of Attribute of Input LiDAR Data |
– LiDARAttributeFormatID | N13 Bytes | ID of Attribute Format of Input Audio Data |
– InputLiDARAttributeLength | N14 Bytes | Number of Bytes in Input LiDAR Data |
– InputLiDARAttributeDataURI | N15 Bytes | URI of Data of Input LiDAR Data |
5 Data Formats
Input LiDAR requires LiDAR SubTypes, Formats, and Attributes.
6 To Respondents
Respondents are invited to:
- Comment or extend the functional requirements of the data produced by LiDAR sensors for indoor/outdoor (cabin) use.
- Propose SubTypes, Formats, and Attributes for use in the future Technical Specification: Data Types, Formats, and Attributes (MPAI-TFA).