C++17/ROS 2 robot centric elevation mapping with probabilistic confidence bounds. Implements Kalman filtered height fusion, 3D covariance propagation, Mahalanobis based multi surface handling, empirical CDF map fusion, and ray tracing visibility checks. Includes wheeled odometry noise model, Gazebo sim, and RMSE/coverage evaluation framework.
☆30Apr 13, 2026Updated 6 months ago
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