NORMAL 3D MAP
✕ COLLAPSE
CLASSES
Terrain
Passable
Obstacle
Dynamic
Ego
SEMANTIC POINT CLOUD
✕ COLLAPSE
CLASSES
Terrain
Passable
Obstacle
Dynamic
Ego
RAW LIDAR SENSOR DATA
✕ COLLAPSE
CLASSES
LiDAR Beam
Passable
Obstacle
Dynamic
Ego
FINAL: ADAPTIVE 2.5D FOVEATED
OPTIMIZED RESOLUTION
✕ COLLAPSE
CLASSES
Foveal Terrain
Passable / Curbs
Static Obstacles
Dynamic Objects
Peripheral Cells
Ego Vehicle