| Attribute | Unit | Note |
| Timestamp | millisecond | Unix timestamp of LiDAR input message |
| ID |
| The ID of the object |
| Label |
| None (0), Car (1), Pedestrian (2), Cyclist (3), Miscellaneous (4) |
| Confidence |
| Confidence of tracking quality (0.0 - 1.0) |
| BBOX_position_x | meter | Center X co-ordinate of bounding box |
| BBOX_position_y | meter | Center Y co-ordinate of bounding box |
| BBOX_size_x | meter | Longitudinal length of the bounding box (relative to yaw) |
| BBOX_size_y | meter | Lateral length of the bounding box (relative to yaw) |
| BBOX_size_z | meter | Height of bounding box |
| Velocity_x | Meter/second | Velocity in longitudinal direction |
| Velocity_y | Meter/second | Velocity in lateral direction |
| BBOX_yaw | radian | Heading (0.0 - 2.0 Pi) |
| Tracking Status |
| None (0), Validating (1), Invalidating (2), Tracking (3), Drifting (4), Expired (5) Validating: checking validity in the early stage of tracking. Invalidating: short-term prediction when tracking is lost in Validating status. Tracking: stable tracking. Drifting: short-term prediction when tracking is lost in Tracking status. Expired: expired tracking. |