Current System

The current coordinate system was adopted for MORAI SIM versions dated April 2021 and onwards.

Ground Truth (GT) data from MORAI SIM: Drive follow the local East, North, Up (ENU) coordinate system.

  • Facing east is defined as having a heading of 0 degrees.

  • The vehicle heading angle increases in the counter-clockwise (CCW) direction.

e.g. KATRI Map (Coordinate system as of April 2021 and onwards)

Legacy System

MORAI SIM versions dated prior to March 2021 observe the following coordinate system.

Ground Truth (GT) data from MORAI SIM follow the local East, North, Up (ENU) coordinate system.

  • Facing north is defined as having a heading of 0 degrees.

  • The vehicle heading angle increases in the counter-clockwise (CCW) direction.