2.2.2.4 Sensor data

SensorData messages imitate the output of real sensors. They can be generated from GroundTruth messages, SensorView messages, FeatureData messages, or SensorData messages. With the exception of feature data, all information regarding the environment is given with respect to the virtual sensor coordinate system. Feature data is given with respect to the physical sensor coordinate system. Sensor data can be used as input for an automated driving function, a sensor model simulating limited perception, or a sensor fusion model.

SensorData messages include FeatureData messages which contain detected features in the reference frame of a sensor. FeatureData messages are generated from GroundTruth messages. They serve, for example, as an input to sensor models simulating object detection or feature fusion models.