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PointCloud -> GridMap<TerrainSafety>
Bin downward-facing point cloud points into a 2D grid and evaluate local flatness based on the mean and standard deviation of Z-coordinates in each bin.
Problem it solves
Raw point clouds are too dense and unclassified for real-time safe landing site selection.
Consumes
Emits
The real projects this mechanism was found in. Attribution is the point — this is how the best teams actually do it.