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Definition
Functional Requirements
Syntax
Semantics
Conformance Testing
Performance Assessment

1      Definition

A Data Type including a collection of Basic LiDAR Objects.

A LiDAR Object can have a hierarchical structure where LiDAR Objects contain Basic LiDAR Objects and LiDAR Objects.

2      Functional Requirements

A LiDAR Object may include:

  1. ID of a Virtual Space (M-Instance) where it is or is intended to be located.
  2. ID of a Real Space (U-Environment) where it is or is intended to be located.
  3. ID of the LiDAR Object.
  4. Time when this LiDAR Object was produced.
  5. Space/Time of the LiDAR Object.
  6. IDs of LiDAR Objects at a preceding time step that spawned this object (Parent Objects).
  7. Basic LiDAR Objects and LiDAR Objects included in the LiDAR Object.

Note that:

  1. A LiDAR Object that does not include Sub-Scenes and only one Basic LiDAR Object is a Basic LiDAR Object.
  2. The Space/Time of a Basic LiDAR Object and a child LiDAR Object included in a LiDAR Object may be superseded by the Space/Time of the LiDAR Object containing them.

3      Syntax

https://schemas.mpai.community/OSD/V1.5/data/LiDARObject.json

4      Semantics

Table 1 – Semantics of the LiDAR Object Data Type

Label
Description
Header LiDAR Object Header – Standard “OSD‑LIO‑Vx.y”.
MInstanceID Identifier of the M-Instance (Virtual Space) where this LiDAR Object is or is intended to be located.
UEnvironmentID Identifier of the U-Environment (Real Space) where this LiDAR Object is or is intended to be located.
LiDARObjectID Unique identifier of this LiDAR Object.
LiDARObjectTime Time this LiDAR Object was produced.
LiDARObjectSpaceTime Space/Time where/when this LiDAR Object is located.
ParentLiDARObjectIDs[] IDs of LiDAR Objects at a preceding time step that spawned this object. Empty if the object has no known parent at a previous time step.
BasicLiDARObjectCount Number of Basic LiDAR Objects contained in this LiDAR Object.
BasicLiDARObjects[] Set of Basic LiDAR Objects contained in this LiDAR Object.
    – BasicLiDARObjectSpaceTime Space/Time where/when this Basic LiDAR Object is located within the containing LiDAR Object. If absent, the Space/Time of the containing object applies.
    – BasicLiDARObjectIDOrBasicLiDARObject Either the ID of a Basic LiDAR Object or the Basic LiDAR Object itself.
SubLiDARObjectCount Number of child LiDAR Objects contained in this LiDAR Object.
SubLiDARObjects[] Set of child LiDAR Objects contained in this LiDAR Object.
    – SubLiDARObjectSpaceTime Space/Time where/when this child LiDAR Object is located within the containing LiDAR Object. If absent, the Space/Time of the containing object applies.
    – SubLiDARObjectIDOrSubLiDARObject Either the ID of a child LiDAR Object or the child LiDAR Object itself.
BasicLiDARObjectOrLiDARObject A mixed array of Basic LiDAR Objects and child LiDAR Objects contained in this LiDAR Object.
DataXMData MPAI-PTF Data Exchange Metadata providing provenance, authorisation, legal, security, and confidence information associated with this LiDAR Object in a trusted data exchange context.
DescrMetadata Human-readable descriptive metadata of the LiDAR Object (plain text, max 2048 characters).

5      Conformance Testing

A Data instance conforms with LiDAR Object (OSD‑LIO) if:

  1. The Data validates against the LiDAR Object’s JSON Schema.
  2. All Data in the LiDAR Object’s JSON Schema:
    1. Have the specified type.
    2. Validate against their JSON Schemas.
    3. Conform with their Data Qualifiers.

6      Performance Assessment

Not part of this specification.

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