Rasterization: a color-encoded image of all map?
Data-type: image

Vectorization: topology
Data-type: table(csv)
--> Be divided into 2 type: static and dynamic

• Static: such as lane, crosswalk, ...
  

  - id      (   group by 
  - type     to get object )
  - x       ( point's position     | absolute <br>
  - y             of shape     )   | value
  - status: additional information
  

• Dynamic: such as vehicle, pedestrian, traffic light, ...
  has property and state
  

  • Property:

    - id
    - type
    - width
    - length
    

  • State:

    - timestamp
    - id
    - center_x    ( center point     | absolute   | also be
    - center_y        of object  )   |  value     | ground-truth
    - heading     (yaw - align with map orientation)
    - status: depend on object type
      __ light_state = {"RED", "YELLOW", "GREEN"}
      __ velocity for moving object
      __ ...
    

    |--> Data will be saved as short scene (~20 seconds?)

• speed_limit.30
• speed_limit.60
• speed_limit.90
• ...