osi3::LidarDetection Struct Reference

Existence probability of the detection not based on history.

Value does not depend on any past experience with similar detections.

Note

Used 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 detection is associated to.

Note

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

Rules

refers_to: DetectedObject

Measured position of the detection given in spherical coordinates in the sensor coordinate system.

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

The height value which is required when multiple scan points are vertically clustered.

Only vertical clustering is allowed (z-axis).

Unit: m

Rules

is_greater_than_or_equal_to: 0

Root mean squared error of the object height.

Unit: m

Rules

is_greater_than_or_equal_to: 0

Intensity or equivalent value of the detection's echo.

Unit: %

Rules

is_greater_than_or_equal_to: 0

is_less_than_or_equal_to: 100

The free space probability in the range [0.0, 1.0] from the origin of the sensor up to this detection, as given by the distance.

Rules

is_greater_than_or_equal_to: 0

is_less_than_or_equal_to: 1

Basic classification of the detection.

Lambertian reflectivity.

Echo pulse width of the 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 Automotive Engine Technology 5, Fig 7, Fig 8. Retrieved May 10, 2021, from https://doi.org/10.1007/s41104-020-00066-x

Radial velocity of the detection positive in direction to the sensor.

Unit: m/s

ID of the corresponding lidar beam.