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feat: qualify K1 local surface over time

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DCCONSTRUCTIONS
2026-07-25 23:22:55 +03:00
parent 04a658b218
commit 3449b2bc3e
13 changed files with 1528 additions and 49 deletions
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README.md
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@@ -145,7 +145,11 @@ estimates a rolling local surface from map points plus compatible pose, and
publishes height, slope, roughness, confidence and conservative observed
surface/occupied/unknown evidence. All `526/526` available samples produced a
diagnostic result; no free-space, command, navigation or safety authority is
inferred. The selected scene is visible in **Парк → Диагностика LiDAR**.
inferred. Leave-current-frame-out qualification produced `525` next-frame
samples with `0.038543 m` p50 median residual and `12` strict temporal jumps;
the p95 residual tail remains too large for planner use. The selected scene and
clickable complete-recording timeline are visible in
**Парк → Диагностика LiDAR**.
The complete RELLIS-3D v1.1 release is now admitted there and its full
`2,413`-frame validation split is available in **Полигон → Датасеты**. The