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GenDoP Terrain Corrector — Visualization PLYs
VGGT local 3D reconstructions of TartanGround sequences with 2D heightfields and predicted / ground-truth carrier trajectories, produced by the GenDoP terrain→pose-correction pipeline (contact v3, 2026-08-05).
Contents
| Folder | Cases | Description |
|---|---|---|
vis_expanded100/ |
100 (6 scenes) | case_XX_heightfield.ply (dimmed scene + yellow→red heightfield + cuboids) and case_XX_terrain.ply (original colors + cuboids); _tags.json = HIT/MISS + failure attribution |
vis_5s_zback/ |
40 (original benchmark) | same layout |
Cuboid legend (6 timesteps, 0.5 s @ 10 Hz)
- Red — raw trajectory (constant velocity, no correction)
- Cyan — corrected trajectory (contact-point regression prediction)
- Green — ground truth
Trajectory markers: green = history, white = current frame, cyan = future.
Method summary
heightfield h(x,z) (0.15 m grid, P50/cell) → front/rear contact query (wheelbase L=0.5 m) → pitch = arctan(Δh/L). Results on the 100-case set: TrendAcc@0.5s 74 %, affected direction accuracy 48 %, normal false-alarm 0 %.
Attribution
Derived from the TartanGround dataset (CMU); original data license applies. Reconstructions computed with VGGT-1B.
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