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



4       Semantics

Label Size Description
Header N1 Bytes
·         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.
InputLiDARTimeSpaceAttributes N5 Bytes Total duration of Input LiDAR Data.
·         Duration N6 Bytes Duration of LiDAR Data Block.
·         SpatialAttitude N7 Bytes CAV’s Spatial Attitude when getting Data.
InputLiDARData N8 Bytes
·         InputLiDARFormatID N9 Bytes Format ID of Input LiDAR Data.
·         InputLiDARDataLength N10 Bytes Data Length of Input LiDAR Data in Bytes.
·         InputLiDARDataURI N11 Bytes Location of Input LiDAR Data.
AudioObjectAttributes[] N12 Bytes
·         InputLiDARAttributeID N13 Bytes ID of Attribute of Input LiDAR Data
·         LiDARAttributeFormatID N14 Bytes ID of Attribute Format of Input Audio Data
·         InputLiDARAttributeLength N15 Bytes Number of Bytes in Input LiDAR Data
·         InputLiDARAttributeDataURI N16 Bytes URI of Data of Input LiDAR Data

5       Data Formats

Input LiDAR requires:

  1. LiDAR Format.
  2. LiDAR Attribute Format.

6       To Respondents

Respondents are invited to:

  1. Comment or extend the functional requirements of the data produced by LiDAR sensors for indoor/outdoor (cabin) use.
  2. Propose Data Formats and Attributes for use in the future Technical Specification: Data Types, Formats, and Attributes (MPAI-TFA).