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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2026
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2605.17302 |
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| _version_ | 1866916020496629760 |
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| author | Du, Yifan Zhang, Chengwei Liao, Siyu Wang, Zhongfeng |
| author_facet | Du, Yifan Zhang, Chengwei Liao, Siyu Wang, Zhongfeng |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2605_17302 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Beyond Geometry: Efficient Topologically-Grounded Navigation in Complex 3D Environments Du, Yifan Zhang, Chengwei Liao, Siyu Wang, Zhongfeng Robotics 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. |
| title | Beyond Geometry: Efficient Topologically-Grounded Navigation in Complex 3D Environments |
| topic | Robotics |
| url | https://arxiv.org/abs/2605.17302 |