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

Manoj Karnekar, Om Mandhane, Gautham Ramkumar

Autonomous Mobile Robots (AMRs) on active construction sites face severe navigational challenges: geometry-based traversability mapping (e.g., LiDAR) misses visually hazardous but…