mlsanityData to 7 Oct 2026

NVSim: Novel View Synthesis Simulator for Large Scale Indoor Navigation

arXiv 2510.24335 ↗First posted 28 Oct 2025cs.RO cs.CVcited by 0

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Abstract (arXiv)

We present NVSim, a framework that automatically constructs large-scale, navigable indoor simulators from only common image sequences, overcoming the cost and scalability limitations of traditional 3D scanning. Our approach adapts 3D Gaussian Splatting to address visual artifacts on sparsely observed floors a common issue in robotic traversal data. We introduce Floor-Aware Gaussian Splatting to ensure a clean, navigable ground plane, and a novel mesh-free traversability checking algorithm that constructs a topological graph by directly analyzing rendered views. We demonstrate our system's ability to generate valid, large-scale navigation graphs from real-world data. A video demonstration is avilable at https://youtu.be/tTiIQt6nXC8

Key facts. No citing papers in the map yet (data through 7 Oct 2026). Builds on 23 of its 27 references that are in the map. First posted on arXiv 28 Oct 2025.

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23 of 27 references.

References · 23

  1. 20233D Gaussian Splatting for Real-Time Radiance Field Renderingcited by 6,141
  2. 2024A Survey on LLM-as-a-Judgecited by 1,384
  3. 2017Matterport3D: Learning from RGB-D Data in Indoor Environmentscited by 1,354
  4. 2019Habitat: A Platform for Embodied AI Researchcited by 1,163
  5. 2017Vision-and-Language Navigation: Interpreting visually-grounded navigation instructions in real environmentscited by 1,013
  6. 2023ScanNet++: A High-Fidelity Dataset of 3D Indoor Scenescited by 747
  7. 2022Block-NeRF: Scalable Large Scene Neural View Synthesiscited by 720
  8. 2021Habitat-Matterport 3D Dataset (HM3D): 1000 Large-scale 3D Environments for Embodied AIcited by 579
  9. 2020Room-Across-Room: Multilingual Vision-and-Language Navigation with Dense Spatiotemporal Groundingcited by 401
  10. 2020A Recurrent Vision-and-Language BERT for Navigationcited by 300
  11. 2023NavGPT: Explicit Reasoning in Vision-and-Language Navigation with Large Language Modelscited by 274
  12. 2021Vision-Only Robot Navigation in a Neural Radiance Worldcited by 153
11 more
  1. 2020iGibson 1.0: a Simulation Environment for Interactive Tasks in Large Realistic Scenescited by 151
  2. 2021SOON: Scenario Oriented Object Navigation with Graph-based Explorationcited by 118
  3. 2024MapGPT: Map-Guided Prompting with Adaptive Path Planning for Vision-and-Language Navigationcited by 85
  4. 2024Open-Nav: Exploring Zero-Shot Vision-and-Language Navigation in Continuous Environment with Open-Source LLMscited by 60
  5. 2024Splat-Nav: Safe Real-Time Robot Navigation in Gaussian Splatting Mapscited by 54
  6. 2021Large-scale Localization Datasets in Crowded Indoor Spacescited by 28
  7. 2024Splatfacto-W: A Nerfstudio Implementation of Gaussian Splatting for Unconstrained Photo Collectionscited by 28
  8. 2025Sparse2DGS: Geometry-Prioritized Gaussian Splatting for Surface Reconstruction from Sparse Viewscited by 25
  9. 2025VR-Robo: A Real-to-Sim-to-Real Framework for Visual Robot Navigation and Locomotioncited by 20
  10. 2024SiLVR: Scalable Lidar-Visual Reconstruction with Neural Radiance Fields for Robotic Inspectioncited by 14
  11. 2025Sparse-View 3D Reconstruction: Recent Advances and Open Challengescited by 3

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