Main Street Autonomy

System requirements

Main Street Autonomy software is suitable for use with sensor data:

  • Captured from any moving system (vehicle, robot, platform)
  • Including at least one sensor that provides geometric scale
  • Configured to provide raw unmodified data at reasonable rates
  • Originating from any camera, lidar, radar, IMU, encoder, GNSS, or INS unit

Sensor data captured during motion

MSA software requires motion and is not suitable for static sensor deployments.

Sensor data can be captured from any moving platform; no specific type of motion or propulsion is required. Suitable platforms include on-road autonomous vehicles (AVs), autonomous ground vehicles (AGVs), autonomous mobile robots (AMRs), semi-trailers, agricultural equipment, forklifts, delivery robots, legged robots, humanoid robots, wheeled robots, tracked robots, remotely operated vehicles (ROVs), unmanned ground vehicles (UGVs), fixed-wing UAVs, multirotor drones, VTOL drones, unmanned aerial vehicles (UAVs), unmanned aircraft systems (UAS), marine surface vessels, autonomous surface vehicles (ASVs), autonomous underwater vehicles (AUVs), submersibles, handheld scanning rigs, and backpack mapping systems.

Sensor data providing geometric scale

MSA software requires at least one of the following to provide a geometric scale reference:

  • A 3D lidar
  • A 2D lidar
  • A stereo camera with known baseline
  • A pair of monocular cameras with overlapping field of view and a known baseline

Sensors configured to provide raw unmodified data

Sensor data should be minimally processed and provided with timestamps. More detail: capturing sensor data.

Supported sensors

  • RGB cameras (rolling or global shutter)
  • Thermal cameras (rolling or global shutter)
  • Near-IR cameras (rolling or global shutter)
  • Stereo and ToF depth cameras
  • 2D lidars
  • 3D lidars
  • 4D imaging radars
  • IMUs
  • Encoders or wheel speed sensors
  • GPS/GNSS units
  • INS units