3. Sensor Models

This chapter explains the design and implementation of the sensor-related modules used in this project.

The documents in this chapter are:

3.1 Obstacle

Covers obstacle data structures used as sensing targets in simulation.

3.2 LiDAR

Covers LiDAR point-cloud generation, scan-point representation, and optional extrinsic-parameter auto-calibration.

3.3 Sensors

Covers the sensor wrapper class that manages LiDAR and GNSS modules and how it is connected to the vehicle model.