2. Definitions

Acronyms

AGV	Automated Guided Vehicle
API	Application Programming Interface
AMR	Autonomous Mobile Robot
FOV	Field of View
GMSL	Gigabit Multimedia Serial Link communication protocol used for video distribution
HFOV	Horizontal FOV
HW	Hardware
I2C	Inter-Integrated Circuit serial communication protocol
ROS	Robot Operating System
SDK	Software Development Kit
SoC	System on Chip
SW	Software
URDF	Unified Robotics Description Format
VFOV	Vertical FOV

2.1. Coordinate Systems

2.1.1. AMR Coordinate System

Coordinates Orientation

The AMR employs a Right Handed Coordinate System. The AMR forward direction is aligned with the positive X direction.

X Direction

X positive points to the AMR front direction, X is parallel to the ground in typical AMR conditions.

Y Direction

Y positive points to the AMR left direction, Y is parallel to the ground in typical AMR conditions.

Z Direction

Z positive points to the AMR up direction, Z is perpendicular to the ground in typical AMR conditions.

Coordinates Origin

The coordinates origin or vertex is fixed to the AMR body at the foremost AMR surface on X Direction, center of the body width on Y Direction, and ground surface on the Z Direction in typical AMR conditions.

Roll Direction

Roll positive is the direction rotating Y Direction for 90 degrees to fully align with Z Direction.

Pitch Direction

Pitch positive is the direction rotating Z Direction for 90 degrees to fully align with X Direction.

Yaw Direction

Yaw positive is the direction rotating X Direction for 90 degrees to fully align with Y Direction.

Roll Range

Roll range is (-180,180] in degree.

Pitch Range

Pitch range is [-90,90] in degree.

Yaw Range

Yaw range is (-180,180] in degree.

Rotation

Sub-linked parts in AMR Coordinate System have global extrinsic rotations in the order of Roll Direction, Pitch Direction and Yaw Direction.

The rotation matrix R is defined as following, r is Roll in degree, p is Pitch in degree and y is Yaw in degree.

Linear Translation

Linear translation applies to sub-linked parts after Rotation.

For example, a sub-linked stereo camera has x_Δoffset, y_Δoffset, z_Δoffset (from Coordinates Origin to stereo-camera Vertex) as linear translation and R as the Rotation matrix in AMR Coordinate System. A detected point [x:sub:a, y_a, z_a] from the perspective of the stereo camera has its position at [x:sub:b, y_b, z_b] from the perspective of the Vehicle Coordinate System.