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Calibration-Free Floor Detection via Gravity-Aware SOAP Descriptors: Theory and Embedded Deployment for Reactive Humanoid Locomotion and Obstacle Avoidance

2026-08-12

Abstract excerpt

<title>Abstract</title> <p>The strongest baseline for calibration-free indoor floor detection—no labels, no per-environment height prior—is PCA surface normals combined with RANSAC plane fitting; on the S3DIS Area 5 benchmark this achieves 86.6% F1. Trained alternatives reach higher accuracy but require labeled point clouds and degrade under domain shift. We introduce a third geometry-based route: a gravity-aware...

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Literature Corpus work: 6f1c6885-c301-5b5a-a104-ac5230bde3cd
DOI: 10.21203/rs.3.rs-10028185/v1

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Calibration-Free Floor Detection via Gravity-Aware SOAP Descriptors: Theory and Embedded Deployment for Reactive Humanoid Locomotion and Obstacle AvoidanceDOI 10.21203/rs.3.rs-10028185/v1Read

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