Environment
Seed
42
Gap height
10 m
Roughness
0.40
Curvature
0.25
Radius
10 m
Vehicles
Count
20
Speed
5.0
Spread
6.0
Noise
σ_noise (delay)
0.10
σ_p (position)
0.10
GM Parameters
η (forgetting)
0.999
τ_p (prune)
3e-5
τ_m (merge B.)
0.10
σ_⊥ (normal)
0.20
σ_∥ (tangent)
0.30
Δs (arc spacing)
1.50
Wall Extraction
τ_w (threshold)
0.30
τ_r (ridge/NMS min)
0.03
ε_g (grad bound)
0.10
Display
Grid G
150
Panel FPS
20
Statistics
Ellipses
0
Steps
0
Grid Direct
GM Paper
Wall: —
Wall: —
Comp: —
Comp: —
⏱ —
⏱ —
Wall Estimation Metrics
Grid Direct
GM Paper
F1 Score
—
F1 Score
—
Precision
—
Recall
—
MCD (m)
—
Score
—
Precision
—
Recall
—
MCD (m)
—
Score
—
A
Map — GT Walls · Ellipses · Wall Estimates
B
Grid Direct — Density
C
GM Paper — Density
D
Grid Direct — Wall Mask
E
GM Paper — Wall Mask