Navigation & MappingIntermediate
GlassGuard: Verified Glass Plane Mapping for Robot Navigation
GlassGuard is a preprint system that reconstructs planar architectural glass for LiDAR navigation by combining a pruned SAM3 vision model, LiDAR-derived structural pillars, depth-free orientation checks, and persistent map management. On nine real-world scenes and 2.1 km of traversal, its panoramic version covers 85.2% of glass with 15.3 false voxels per frame, while the pinhole version covers 82.1% versus at most 61.0% for baselines and carries 5–17× fewer false voxels per frame. It matters because it blocks collision paths through glass without contaminating traversable space, a dual requirement for safe robots in glass-walled buildings.