Avoid obstacles during navigation

The navigation service supports two kinds of obstacles: vision-detected obstacles from cameras and static obstacles defined in configuration. You can use both together.

Prerequisites

• The navigation service is configured and your robot can navigate to a waypoint.
• For vision-based detection: a camera and a vision service configured to detect obstacles.

Add vision-based obstacle detection

Each obstacle detector pairs a vision service with a camera. The vision service analyzes frames from the camera and reports 3D obstacle geometries. The navigation service transforms these detections into geographic coordinates and feeds them to the path planner.

Configure an obstacle detector

1. Open your navigation service configuration in the Viam app.
2. In the obstacle_detectors section, add a detector:
   • vision_service: the name of your vision service.
   • camera: the name of the camera that feeds it.
3. Click Save.

{
  "obstacle_detectors": [
    {
      "vision_service": "obstacle-detector",
      "camera": "front-cam"
    }
  ]
}

Use multiple detectors

You can configure multiple detectors for better coverage. Each detector operates independently and contributes its obstacles to the planner. The obstacles from all detectors are combined (not merged or deduplicated).

Common multi-detector setups:

• Forward and rear cameras for obstacle detection in both directions.
• Different vision models on the same camera (one for large obstacles, one for ground-level hazards).
• Different sensor types (a camera-based detector for visual obstacles and a lidar-based detector for transparent or reflective objects a camera would miss).

{
  "obstacle_detectors": [
    {
      "vision_service": "obstacle-detector",
      "camera": "front-cam"
    },
    {
      "vision_service": "ground-hazard-detector",
      "camera": "down-cam"
    }
  ]
}

How detection frequency works

The navigation service polls each detector at obstacle_polling_frequency_hz (default 1 Hz). At each poll:

1. The service queries the vision service for 3D point cloud objects.
2. It transforms each detection from the camera’s frame to geographic coordinates using the movement sensor’s position and heading.
3. The transformed obstacles are added to the planner alongside any static obstacles.

Higher polling frequencies detect obstacles sooner but use more CPU and camera bandwidth. For robots moving at the default 0.3 m/s, 1 Hz means the robot moves about 30 cm between obstacle checks.

Add static obstacles

Static obstacles are fixed geographic locations the robot should always avoid, regardless of what the cameras see. Use these for known hazards like ponds, buildings, restricted areas, or dropoffs.

Configure with the visual editor

The easiest way to add static obstacles is through the Viam app:

1. Open your navigation service in the CONFIGURE tab.
2. The configuration card shows a map. Click to place obstacles on the map.
3. Define the obstacle shape (box, sphere, or capsule) and size.
4. Click Save.

Configure in JSON

Static obstacles are GeoGeometry objects in the obstacles array:

{
  "obstacles": [
    {
      "location": {
        "latitude": 40.6645,
        "longitude": -73.9382
      },
      "geometries": [
        {
          "type": "box",
          "x": 5,
          "y": 5,
          "z": 2
        }
      ]
    }
  ]
}

Set up geofences (bounding regions)

Bounding regions define geographic boundaries the robot must stay within. If configured, the path planner will not generate paths that leave these regions. Use bounding regions to keep the robot on your property, within a work zone, or away from roads.

Configure bounding regions in the bounding_regions array. The format is the same as static obstacles (GeoGeometry objects), but the meaning is inverted: obstacles are areas to avoid, bounding regions are areas to stay within.

{
  "bounding_regions": [
    {
      "location": {
        "latitude": 40.6643,
        "longitude": -73.938
      },
      "geometries": [
        {
          "type": "box",
          "x": 100,
          "y": 100,
          "z": 10
        }
      ]
    }
  ]
}

What’s next

• Tune navigation behavior: adjust obstacle polling frequency and plan deviation for your environment.
• Navigation service configuration: full reference for obstacle and bounding region attributes.
• Configure a vision service: set up the vision service that powers your obstacle detectors.