Robust 2D Traversability Mapping for Construction AMRs via Failure-Mode-Aware Fusion of LiDAR Geometry and Monocular Semantics

cs.RO, cs.CV

Submitted: 2026-10-04

Updated: 2026-10-04

Comments: Extended version of a paper presented at the 5th Workshop on Future of Construction, IROS 2026

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Sources

• Patchwork++: Fast and Robust Ground Segmentation Solving Partial Under-Segmentation Using 3D Point Cloud
• Learning-based Traversability Costmap for Autonomous Off-road Navigation
• RoadRunner -- Learning Traversability Estimation for Autonomous Off-road Driving
• Ultralytics YOLO26: Unified Real-Time End-to-End Vision Models
• METAVerse: Meta-Learning Traversability Cost Map for Off-Road Navigation
• SAM 3: Segment Anything with Concepts

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