Craters will have an edge in the ground with -y direction, can look for that via depth sensor input from Realsense
Berm will be created by us, can: mark area we want to build berm in (same start condition as mechanical dump), and draw contour after finished “dumping” current amt of sand
Rocks & column will have +y direction; whenever there is an occlusion that isn’t a berm (or in the obstacle zone), mark it as a rock/column
Label obstacles for interaction purposes (avoid craters, navigate to berm, etc)
Classes: (rocks & column) vs (craters) vs (berms)
Steps:
Helpful Resources:
Detection Algorithm Ideas: