It sounds like you’re looking for wp_localize_script()
which lets you pass data to a script that is already enqueued.
It works roughly like this:
<?php
// assuming your script is already registered
wp_enqueue_script( 'wpse_81817' );
// Do the array building of terms you plan on doing
$wpse_81817_phpdata = array( 'myKey' => 'a value' );
// Pass that to the JS
wp_localize_script( 'wpse_81817', 'wpse_81817_jsdata', $wpse_81817_phpdata );
Then, in your wpse_81817
script, you can get at the data like so:
print wpse_81817_jsdata.myKey;
That should return:
'a value'