diff --git a/NavisworksTransportPlugin.csproj b/NavisworksTransportPlugin.csproj
index 91e6054..d2779bd 100644
--- a/NavisworksTransportPlugin.csproj
+++ b/NavisworksTransportPlugin.csproj
@@ -196,6 +196,7 @@
     <Compile Include="src\PathPlanning\VoxelGrid.cs" />
     <Compile Include="src\PathPlanning\VoxelGridGenerator.cs" />
     <Compile Include="src\PathPlanning\MeshSDFTester.cs" />
+    <Compile Include="src\PathPlanning\VoxelGridVisualizer.cs" />
 
     <!-- UI - WPF -->
     <Compile Include="src\UI\WPF\Views\LogisticsControlPanel.xaml.cs">
diff --git a/src/PathPlanning/VoxelGridVisualizer.cs b/src/PathPlanning/VoxelGridVisualizer.cs
new file mode 100644
index 0000000..fb72dae
--- /dev/null
+++ b/src/PathPlanning/VoxelGridVisualizer.cs
@@ -0,0 +1,388 @@
+using System;
+using System.Collections.Generic;
+using Autodesk.Navisworks.Api;
+using NavisworksTransport.Utils;
+using static NavisworksTransport.CategoryAttributeManager;
+
+namespace NavisworksTransport.PathPlanning
+{
+    /// <summary>
+    /// 体素网格可视化器 - 在 Navisworks 3D 视图中显示体素网格
+    /// 阶段 1.5：体素可视化验证
+    /// </summary>
+    public class VoxelGridVisualizer
+    {
+        /// <summary>
+        /// 可视化体素网格（简化版本 - 使用小球表示体素）
+        /// </summary>
+        /// <param name="voxelGrid">体素网格</param>
+        /// <param name="samplingRate">采样率（1=全部显示，2=每隔一个显示，以此类推）</param>
+        /// <param name="showPassableOnly">是否只显示可通行体素</param>
+        /// <returns>生成的路径点列表，可用于PathPointRenderPlugin渲染</returns>
+        public static List<PathPoint> VisualizeAsPoints(
+            VoxelGrid voxelGrid,
+            int samplingRate = 2,
+            bool showPassableOnly = false)
+        {
+            LogManager.Info("=== 开始体素网格可视化 ===");
+            LogManager.Info($"网格尺寸: {voxelGrid.SizeX} × {voxelGrid.SizeY} × {voxelGrid.SizeZ}");
+            LogManager.Info($"采样率: {samplingRate} (每{samplingRate}个体素显示1个)");
+            LogManager.Info($"仅显示可通行: {showPassableOnly}");
+
+            var points = new List<PathPoint>();
+            int totalVoxels = 0;
+            int visualizedVoxels = 0;
+
+            try
+            {
+                for (int x = 0; x < voxelGrid.SizeX; x += samplingRate)
+                {
+                    for (int y = 0; y < voxelGrid.SizeY; y += samplingRate)
+                    {
+                        for (int z = 0; z < voxelGrid.SizeZ; z += samplingRate)
+                        {
+                            totalVoxels++;
+
+                            var cell = voxelGrid.GetCell(x, y, z);
+                            if (cell == null) continue;
+
+                            // 过滤：如果只显示可通行体素，跳过不可通行的
+                            if (showPassableOnly && !cell.IsPassable)
+                                continue;
+
+                            // 获取体素中心点的世界坐标
+                            var worldPos = voxelGrid.VoxelToWorldCenter(x, y, z);
+
+                            // 创建路径点表示体素
+                            var point = new PathPoint
+                            {
+                                Index = visualizedVoxels,
+                                Position = worldPos,
+                                Name = GetVoxelDisplayName(cell, x, y, z),
+                                Type = PathPointType.WayPoint,
+                                Notes = $"VoxelType:{cell.Type}"
+                            };
+
+                            points.Add(point);
+                            visualizedVoxels++;
+                        }
+                    }
+                }
+
+                LogManager.Info($"总体素数: {voxelGrid.TotalVoxels:N0}");
+                LogManager.Info($"采样后体素数: {totalVoxels:N0}");
+                LogManager.Info($"可视化体素数: {visualizedVoxels:N0}");
+                LogManager.Info("=== 体素网格可视化完成 ===");
+            }
+            catch (Exception ex)
+            {
+                LogManager.Error($"体素网格可视化失败: {ex.Message}");
+                LogManager.Error($"堆栈跟踪: {ex.StackTrace}");
+            }
+
+            return points;
+        }
+
+        /// <summary>
+        /// 可视化体素网格的切片（指定Z高度）
+        /// </summary>
+        /// <param name="voxelGrid">体素网格</param>
+        /// <param name="zIndex">Z方向索引（高度层）</param>
+        /// <returns>生成的路径点列表</returns>
+        public static List<PathPoint> VisualizeSlice(VoxelGrid voxelGrid, int zIndex)
+        {
+            LogManager.Info($"=== 可视化体素网格切片 (Z={zIndex}) ===");
+
+            var points = new List<PathPoint>();
+            int visualizedCount = 0;
+
+            try
+            {
+                if (!voxelGrid.IsValidIndex(0, 0, zIndex))
+                {
+                    LogManager.Warning($"无效的 Z 索引: {zIndex}，有效范围: 0 ~ {voxelGrid.SizeZ - 1}");
+                    return points;
+                }
+
+                for (int x = 0; x < voxelGrid.SizeX; x++)
+                {
+                    for (int y = 0; y < voxelGrid.SizeY; y++)
+                    {
+                        var cell = voxelGrid.GetCell(x, y, zIndex);
+                        if (cell == null) continue;
+
+                        // 获取体素中心点的世界坐标
+                        var worldPos = voxelGrid.VoxelToWorldCenter(x, y, zIndex);
+
+                        // 创建路径点表示体素
+                        var point = new PathPoint
+                        {
+                            Index = visualizedCount,
+                            Position = worldPos,
+                            Name = GetVoxelDisplayName(cell, x, y, zIndex),
+                            Type = PathPointType.WayPoint,
+                            Notes = $"VoxelType:{cell.Type}"
+                        };
+
+                        points.Add(point);
+                        visualizedCount++;
+                    }
+                }
+
+                LogManager.Info($"切片 Z={zIndex} 可视化体素数: {visualizedCount:N0}");
+                LogManager.Info("=== 切片可视化完成 ===");
+            }
+            catch (Exception ex)
+            {
+                LogManager.Error($"切片可视化失败: {ex.Message}");
+                LogManager.Error($"堆栈跟踪: {ex.StackTrace}");
+            }
+
+            return points;
+        }
+
+        /// <summary>
+        /// 可视化体素网格的边界（只显示障碍物表面）
+        /// </summary>
+        /// <param name="voxelGrid">体素网格</param>
+        /// <returns>生成的路径点列表</returns>
+        public static List<PathPoint> VisualizeBoundary(VoxelGrid voxelGrid)
+        {
+            LogManager.Info("=== 可视化体素网格边界（障碍物表面） ===");
+
+            var points = new List<PathPoint>();
+            int visualizedCount = 0;
+
+            try
+            {
+                for (int x = 0; x < voxelGrid.SizeX; x++)
+                {
+                    for (int y = 0; y < voxelGrid.SizeY; y++)
+                    {
+                        for (int z = 0; z < voxelGrid.SizeZ; z++)
+                        {
+                            var cell = voxelGrid.GetCell(x, y, z);
+                            if (cell == null || cell.IsPassable) continue;
+
+                            // 检查是否是边界体素（至少有一个相邻体素是可通行的）
+                            if (IsBoundaryVoxel(voxelGrid, x, y, z))
+                            {
+                                var worldPos = voxelGrid.VoxelToWorldCenter(x, y, z);
+
+                                var point = new PathPoint
+                                {
+                                    Index = visualizedCount,
+                                    Position = worldPos,
+                                    Name = GetVoxelDisplayName(cell, x, y, z),
+                                    Type = PathPointType.WayPoint,
+                                    Notes = $"VoxelType:{cell.Type},Boundary:true"
+                                };
+
+                                points.Add(point);
+                                visualizedCount++;
+                            }
+                        }
+                    }
+                }
+
+                LogManager.Info($"边界体素数: {visualizedCount:N0}");
+                LogManager.Info("=== 边界可视化完成 ===");
+            }
+            catch (Exception ex)
+            {
+                LogManager.Error($"边界可视化失败: {ex.Message}");
+                LogManager.Error($"堆栈跟踪: {ex.StackTrace}");
+            }
+
+            return points;
+        }
+
+        /// <summary>
+        /// 判断体素是否为边界体素
+        /// </summary>
+        private static bool IsBoundaryVoxel(VoxelGrid voxelGrid, int x, int y, int z)
+        {
+            // 获取 6 邻域
+            var neighbors = voxelGrid.GetNeighbors6(x, y, z);
+
+            // 如果至少有一个邻居是可通行的，则当前体素是边界
+            foreach (var (nx, ny, nz) in neighbors)
+            {
+                if (voxelGrid.IsPassable(nx, ny, nz))
+                {
+                    return true;
+                }
+            }
+
+            return false;
+        }
+
+        /// <summary>
+        /// 获取体素显示名称
+        /// </summary>
+        private static string GetVoxelDisplayName(VoxelCell cell, int x, int y, int z)
+        {
+            string typeStr = cell.IsPassable ? "通行" : "障碍";
+            return $"体素({x},{y},{z})-{typeStr}-{cell.Type}";
+        }
+
+        /// <summary>
+        /// 将体素列表转换为 PathRoute，以便使用 PathPointRenderPlugin 渲染
+        /// </summary>
+        /// <param name="voxelPoints">体素点列表</param>
+        /// <param name="routeName">路径名称</param>
+        /// <returns>PathRoute 对象</returns>
+        public static PathRoute ConvertToPathRoute(List<PathPoint> voxelPoints, string routeName = "体素网格可视化")
+        {
+            var route = new PathRoute
+            {
+                Id = $"voxel_visualization_{Guid.NewGuid():N}",
+                Name = routeName,
+                Points = voxelPoints,
+                IsComplete = true,
+                CreatedTime = DateTime.Now
+            };
+
+            return route;
+        }
+
+        /// <summary>
+        /// 快速可视化测试
+        /// </summary>
+        /// <param name="voxelGrid">体素网格</param>
+        public static void QuickVisualizationTest(VoxelGrid voxelGrid)
+        {
+            LogManager.Info("=== 开始快速可视化测试 ===");
+
+            try
+            {
+                // 统计信息
+                var (total, passable, obstacle) = voxelGrid.GetStatistics();
+                LogManager.Info($"体素统计: 总数={total:N0}, 可通行={passable:N0}, 障碍={obstacle:N0}");
+
+                // 测试1：可视化底层切片（Z=0）
+                LogManager.Info("[测试 1] 可视化底层切片 (Z=0)");
+                var slicePoints = VisualizeSlice(voxelGrid, 0);
+                LogManager.Info($"底层切片点数: {slicePoints.Count}");
+
+                // 测试2：可视化中间层切片（Z=中间）
+                int midZ = voxelGrid.SizeZ / 2;
+                LogManager.Info($"[测试 2] 可视化中间层切片 (Z={midZ})");
+                var midSlicePoints = VisualizeSlice(voxelGrid, midZ);
+                LogManager.Info($"中间层切片点数: {midSlicePoints.Count}");
+
+                // 测试3：可视化边界
+                LogManager.Info("[测试 3] 可视化边界（障碍物表面）");
+                var boundaryPoints = VisualizeBoundary(voxelGrid);
+                LogManager.Info($"边界点数: {boundaryPoints.Count}");
+
+                // 测试4：采样可视化（每隔2个体素显示1个）
+                LogManager.Info("[测试 4] 采样可视化（采样率=2）");
+                var sampledPoints = VisualizeAsPoints(voxelGrid, 2, false);
+                LogManager.Info($"采样点数: {sampledPoints.Count}");
+
+                LogManager.Info("=== 快速可视化测试完成 ===");
+                LogManager.Info("提示：使用 PathPointRenderPlugin 渲染这些点");
+            }
+            catch (Exception ex)
+            {
+                LogManager.Error($"快速可视化测试失败: {ex.Message}");
+                LogManager.Error($"堆栈跟踪: {ex.StackTrace}");
+            }
+        }
+
+        /// <summary>
+        /// 生成可视化报告（文本格式）
+        /// </summary>
+        /// <param name="voxelGrid">体素网格</param>
+        /// <returns>报告文本</returns>
+        public static string GenerateVisualizationReport(VoxelGrid voxelGrid)
+        {
+            var report = new System.Text.StringBuilder();
+
+            report.AppendLine("================================");
+            report.AppendLine("  体素网格可视化报告");
+            report.AppendLine("================================");
+            report.AppendLine();
+
+            // 基本信息
+            report.AppendLine("【基本信息】");
+            report.AppendLine($"网格尺寸: {voxelGrid.SizeX} × {voxelGrid.SizeY} × {voxelGrid.SizeZ}");
+            report.AppendLine($"体素尺寸: {voxelGrid.VoxelSize:F4} 模型单位");
+            report.AppendLine($"总体素数: {voxelGrid.TotalVoxels:N0}");
+            report.AppendLine($"网格边界: {voxelGrid.Bounds.Min} ~ {voxelGrid.Bounds.Max}");
+            report.AppendLine();
+
+            // 统计信息
+            var (total, passable, obstacle) = voxelGrid.GetStatistics();
+            double passableRatio = (double)passable / total * 100.0;
+            double obstacleRatio = (double)obstacle / total * 100.0;
+
+            report.AppendLine("【统计信息】");
+            report.AppendLine($"总体素数: {total:N0}");
+            report.AppendLine($"可通行体素: {passable:N0} ({passableRatio:F1}%)");
+            report.AppendLine($"障碍物体素: {obstacle:N0} ({obstacleRatio:F1}%)");
+            report.AppendLine();
+
+            // 类型分布
+            report.AppendLine("【体素类型分布】");
+            var typeDistribution = AnalyzeTypeDistribution(voxelGrid);
+            foreach (var kvp in typeDistribution)
+            {
+                double ratio = (double)kvp.Value / total * 100.0;
+                report.AppendLine($"  {kvp.Key}: {kvp.Value:N0} ({ratio:F1}%)");
+            }
+            report.AppendLine();
+
+            // 可视化建议
+            report.AppendLine("【可视化建议】");
+            if (total > 1000000)
+            {
+                report.AppendLine("  ⚠️ 体素数量很大，建议使用采样率 >= 5");
+                report.AppendLine("  或者只可视化边界/切片");
+            }
+            else if (total > 100000)
+            {
+                report.AppendLine("  ⚠️ 体素数量较大，建议使用采样率 >= 3");
+            }
+            else
+            {
+                report.AppendLine("  ✅ 体素数量适中，可以使用采样率 1-2");
+            }
+            report.AppendLine();
+
+            report.AppendLine("================================");
+
+            return report.ToString();
+        }
+
+        /// <summary>
+        /// 分析体素类型分布
+        /// </summary>
+        private static Dictionary<LogisticsElementType, int> AnalyzeTypeDistribution(VoxelGrid voxelGrid)
+        {
+            var distribution = new Dictionary<LogisticsElementType, int>();
+
+            for (int x = 0; x < voxelGrid.SizeX; x++)
+            {
+                for (int y = 0; y < voxelGrid.SizeY; y++)
+                {
+                    for (int z = 0; z < voxelGrid.SizeZ; z++)
+                    {
+                        var cell = voxelGrid.GetCell(x, y, z);
+                        if (cell == null) continue;
+
+                        if (!distribution.ContainsKey(cell.Type))
+                        {
+                            distribution[cell.Type] = 0;
+                        }
+
+                        distribution[cell.Type]++;
+                    }
+                }
+            }
+
+            return distribution;
+        }
+    }
+}