NVSim: Novel View Synthesis Simulator for Large Scale Indoor Navigation

Our approach adapts 3D Gaussian Splatting to address visual artifacts on sparsely-observed floors--a common issue in robotic traversal data. We introduce Floor-A ware 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.