fuse_elevation — DRIVE walkterrain op

• 資料種類:images → depth

• 呼叫: import fullseye as fs; fs.ledger.fuse_elevation(grids, agg: 'str' = 'max')(要直接呼叫實作,import terrain; terrain.fuse_elevation(grids, agg: 'str' = 'max');從台帳取用則 opsdrive.get("fuse_elevation"))

• GPU:無(僅 CPU 參考實作)

用法

將多個對齊的高程網格融合為一張以機器人為中心的地圖。

> 以下的詳細說明為原文 —— 摘要與標題已翻譯。

Multi-frame accumulation: as a robot walks it sees the terrain from several depth frames; binning each into an elevation_map on a common grid and fusing them here fills gaps and firms up heights. agg = 'max' (obstacle-safe, default), 'min' (ground-safe) or 'mean'. nan (unobserved in a given frame) is ignored; a cell unobserved in *every* frame stays nan. Input grids must share a shape.

參考(範例資料、文獻)

• 範例資料目錄(下載 URL / 授權) —— 2-D 用 skimage.data(BSD/公有領域)加合成圖,3-D 給出真實資料源(Stanford/PDS 等)的下載 URL。

• 運算子來歷與參考文獻 —— 該運算子族所依據的研究/方法出處。

• 演算法的正典(作者、年份)與用途見上面的族使用指南。

可執行的範例(實際呼叫該運算子並已驗證的樣例)

• walking_ops_tour — py -3.11 examples/walking_ops_tour.py

型別可銜接的下一個運算子(可接受 depth 作為輸入)

spin_from_marker_sequence · carla_transform_matrix · carla_pose_to_world · carla_camera_pose · carla_xy_yaw · carla_scene_load · town_chain · osm_parse

同類別(walkterrain)

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

*Provenance: terrain.py — DRIVE 運算子登記表。本條目由 tools/opdocs.py md 自動產生(請勿手動編輯)。*

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