Glossary

Technical terms used in the AV2 documentation.

AHRS

Attitude and Heading Reference System. A sensor that provides orientation data.

BEV

Bird’s Eye View. A top-down perspective of the scene.

CAN

Controller Area Network. A vehicle bus standard for communication between microcontrollers.

DWA

Dynamic Window Approach. A local motion planning algorithm.

ENU

East-North-Up. A coordinate system convention.

FOV

Field of View. The angular extent visible to a sensor.

GNSS

Global Navigation Satellite System. Includes GPS, GLONASS, Galileo, etc.

GPS

Global Positioning System. US satellite navigation system.

IMU

Inertial Measurement Unit. Sensor measuring acceleration and rotation.

IPM

Inverse Perspective Mapping. Transform from camera to bird’s eye view.

LIDAR

Light Detection and Ranging. Sensor using laser pulses for distance measurement.

NTRIP

Networked Transport of RTCM via Internet Protocol. RTK correction delivery.

Occupancy Grid

A 2D probabilistic map representing obstacle locations.

Pure Pursuit

A geometric path tracking algorithm.

RTK

Real-Time Kinematic. GPS enhancement providing centimeter accuracy.

SLAM

Simultaneous Localization and Mapping.

UTM

Universal Transverse Mercator. A map projection system.

Waypoint

A target position along a planned path.

WGS84

World Geodetic System 1984. The GPS coordinate system.