Fuente: Wipo "Sensorization" Disclosed is an apparatus including an input interface. The input interface is configured to obtain input sensor data including light detection and ranging (LiDAR) data indicative of an environment. The apparatus includes a pre-processor communicatively coupled to the input interface. The pre-processor includes a parser logic. The pre¬ processor includes a decoder communicatively coupled to the parser logic. The parser logic is configured to parse the input sensor data. The decoder is configured to decode the parsed input sensor data. The pre-processor is configured to provide the decoded input sensor data and the parsed input sensor data to a processor for fusion.