This res contains the mapping and ground segmentation code, and the specific code for ground segmentation is in the folder:mav_ring_ground_segmentation.
## 丛林环境行军道路探测
### 指标要求
(1)行军道路判别准确度:大于等于50%.
### 测试方法
将一个可行道路分成n段,手控无人机沿着这条路行走,得到重建的效果后,计算正确率.
### 技术要求
(1)无人机在地势高度多变的丛林稳定飞行,基于机载视觉传感器获得的点云数据,对周围的环境进行网格重建.
(2)找到网格中的人可行道路.
## 结果展示
(1)在西北工业大学自动化学院楼后面的小土坡进行测试,该地地势起伏较大,障碍物较少.黄色为可行道路,彩色为局部地图,为不确定区域.
![image01](https://github.com/liuzhenboo/mav_find_road/blob/master/img/01.png)
(2)在西北工业大学海天苑启翔楼附近的小树林,此地地势起伏小,障碍物多.黄色为可行道路,红色为树木,白色为局部地图即不确定区域.
![image02](https://github.com/liuzhenboo/mav_find_road/blob/master/img/02.png)
(3)在西北工业大学海天苑启翔楼对面的山上测试,该地地势变化极大.红色为障碍物,黄色为可行军道路.
![image03](https://github.com/liuzhenboo/mav_find_road/blob/master/img/03.png)
![image04](https://github.com/liuzhenboo/mav_find_road/blob/master/img/04.png)
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