Project Overview M1: Efficient LiDAR Ingestion in C++M2: Sector-Based RANSAC Ground Segmentation M3: Physics-Grounded Traversability Grid M4: Camera-LiDAR Projection + Semantic Fusion M5: Kinematic Safety Supervisor M6: Integration & Docker Architecture Documentation System Design

System Design

System Design

Terra Perceive

Nishant Pushparaju

Building a production-grade C++ perception pipeline for construction site autonomy — sector RANSAC, BEV traversability, and kinematic safety from scratch on RELLIS-3D LiDAR data.