osi3::LogicalDetection Struct Reference

Existence probability of the logical detection.

Note

Use as confidence measure where a low value means less confidence and a high value indicates strong confidence.

Rules

is_greater_than_or_equal_to: 0

is_less_than_or_equal_to: 1

ID of the detected object this logical detection is associated to.

Note

ID = MAX(uint64) indicates no reference to an object.

Rules

refers_to: DetectedObject

Measured position of the logical detection given in cartesian coordinates in the virtual sensor coordinate system.

Unit: m

Root mean squared error of the measured position of the logical detection.

Velocity of the logical detection given in cartesian coordinates in the virtual sensor coordinate system.

Unit: m/s

Root mean squared error of the logical detection's velocity.

Unit: m/s

Rules

is_greater_than_or_equal_to: 0

Intensity or equivalent value of the logical detection's echo.

Unit: %

Rules

is_greater_than_or_equal_to: 0

is_less_than_or_equal_to: 100

The signal to noise ratio (SNR) of the logical detection.

Unit: dB

Describes the possibility whether more than one object may have led to this logical detection.

Rules

is_greater_than_or_equal_to: 0

is_less_than_or_equal_to: 1

The ID(s) of the sensor(s) that produced the detection(s) for transformation and - in case of multiple sensors - fusion into the single logical detection.

Note

One logical detection can originate from multiple sensors.

Basic classification of the logical detection.

Echo pulse width of the logical detection's echo.

Several sensors output an echo pulse width instead of an intensity for each individual detection. The echo pulse is measured in m and measures the extent of the object parts or atmospheric particles that produce the echo.

Note

For more details see [1] Fig. 7 and 8.

Fig. 7 shows an example where the two echos are reflected from the edges A-B and C-D.

Fig. 8 shows how the echo pulse width is measured as the range between the rising edge and the falling edge that crosses the intensity threshold.

Unit: m

Rules

is_greater_than_or_equal_to: 0

Reference:

[1] Rosenberger, P., Holder, M.F., Cianciaruso, N. et al. (2020). Sequential lidar sensor system simulation: a modular approach for simulation-based safety validation of automated driving Automot. Engine Technol. 5, Fig 7, Fig 8. Retrieved May 10, 2021, from https://doi.org/10.1007/s41104-020-00066-x