Abstract: A work machine includes a terrain verification system for dropping a pallet on a land surface at a destination. Operating autonomously or semi-autonomously, the work machine includes a range sensor, an image sensor, and an inertial sensor to assess the slope and roughness of the land surface on approach to the destination. The terrain verification system generates a ground map of the destination from range data received by the range sensor and generates a roughness metric indicative of the surface. Image data received by the image sensor is used to verify the roughness metric and, when obstructions are found from the image data, the system moves the work machine over the land surface and evaluates pitch and roll data from the inertial sensor to determine the condition of the destination for dropping the pallet.