VoxelNav

Real-time 3D semantic voxel mapping for ROS2 robots.

What It Does

Takes LiDAR scans + camera feeds and turns them into labeled 3D voxel maps. Knows what is floor, wall, person, furniture, door - then feeds that to Nav2 for smart navigation.

Key Features

• O(1) voxel hashing - constant-time lookup regardless of map size
• MobileNetV3 segmentation - AI labeling of objects
• Nav2 costmap plugin - direct integration with ROS2 navigation
• 100ms latency - real-time on Jetson Nano

How to Use

# Install
cd voxelnav && colcon build

# Run
ros2 run voxelnav voxelnav_node

GitHub

https://github.com/AmSach/voxelnav

Built for ROS2 robots that need semantic maps without expensive hardware.