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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-LSD) AIM:

Receives LiDAR  Object
Spatial Attitude
Basic Environment Descriptors
Produces LiDAR Scene Descriptors
Alert

2      Reference Architecture

Figure 1 depicts the Reference Architecture of the LiDAR Scene Description (CAV-LSD) AIM.

Figure 1 – The LiDAR Scene Description (CAV-LSD) AIM

3      I/O Data

Table 1 specifies the Input and Output Data of the LiDAR Scene Description (CAV-LSD) AIM.

Table 1 – I/O Data of the LiDAR Scene Description (CAV-LSD) AIM

Input Data Description
Spatial Attitude CAV’s Spatial Attitude From the Spatial Attitude Generation AIM.
Input LiDAR LiDAR Data
Basic Environment Descriptors Previously computed Basic Environment 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

7     Reference Software

8     Conformance Testing

9     Performance Assessment