A surface extraction framework reduces the navigation state space by over 80% while achieving 100% planning success and sub-millisecond A* searches in Matterport3D and PCT scenes.
Robotic online path planning on point cloud,
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Beyond Geometry: Efficient Topologically-Grounded Navigation in Complex 3D Environments
A surface extraction framework reduces the navigation state space by over 80% while achieving 100% planning success and sub-millisecond A* searches in Matterport3D and PCT scenes.