Beyond Geometry: Efficient Topologically-Grounded Navigation in Complex 3D Environments
摘要
Ground robot navigation in complex 3D environments is often hindered by geometric ambiguity, where non-traversable structures such as furniture share local geometric properties with navigable ground. Furthermore, the computational cost of searching massive voxel spaces remains a significant challenge. To address these issues, we present a surface extraction framework that constructs a reduced state space of physically reachable standing positions by enforcing ground support, overhead clearance, and seed-based connectivity constraints. Evaluation across five Matterport3D indoor scenes and three PCT benchmark scenes demonstrates over 80\% state space reduction and sub-millisecond A* search on the Matterport3D scenes, with 100\% planning success across all 300 tested queries.
引用
@article{arxiv.2605.17302,
title = {Beyond Geometry: Efficient Topologically-Grounded Navigation in Complex 3D Environments},
author = {Yifan Du and Chengwei Zhang and Siyu Liao and Zhongfeng Wang},
journal= {arXiv preprint arXiv:2605.17302},
year = {2026}
}