foothold_score — DRIVE walkterrain op

• Data kinds: depth → image2d

• Call: import fullseye as fs; fs.ledger.foothold_score(grid, cell: 'float' = 0.05, window: 'int' = 3) (to call the implementation directly, import terrain; terrain.foothold_score(grid, cell: 'float' = 0.05, window: 'int' = 3); from the registry, opsdrive.get("foothold_score"))

• GPU: none (CPU reference implementation only)

Usage

Per-cell flatness score in [0, 1] (1 = flat & level = good foothold).

Combines local roughness (height std) and slope into a single score; useful to rank candidate step locations for a legged robot.

References (sample data, literature)

• Sample-data catalog (download URLs / licences) — 2-D uses skimage.data (BSD/public domain) plus synthetic images; 3-D lists download URLs for real data sources (Stanford, PDS, …).

• Operator provenance and references — the sources of the research/methods this op family came from.

• The canonical algorithm (author, year) and its uses are named in the family usage guide above.

Runnable examples (verified samples that actually call this op)

• walking_ops_tour — py -3.11 examples/walking_ops_tour.py

Ops the type connects to (they accept image2d as input)

flow_from_depth_motion · ttc_truth · ttc_from_flow · foe_from_flow · perlin2 · fbm_height · fbm_gradient · radial_periodogram

Same category (walkterrain)

elevation_map · fill_gaps · elevation_traversability · ground_surface · ground_plane · detect_obstacles · fuse_elevation · roughness_map

*Provenance: terrain.py — DRIVE operator registry. This per-op note is generated by tools/opdocs.py md (do not hand-edit).*

© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.