Mobile robots typically use some version of a LiDAR sensor for navigation. LiDAR, which stands for light detection and ranging, is a remote sensing method that measures variable distances using light in the form of a pulsed laser. LiDAR helps localize, navigate, and avoid obstacles so the robot can perceive surroundings and select a collision-free path. As new industries continue to adopt mobile robots, they must be able to navigate new, dynamic environments. One of the challenges in these environments is navigating around drop-offs or cliffs, also known as negative obstacles.