Collision is notoriously difficult.
Java3D doesn't make it any easier really.
There are many, many factors that contribute to final accuracy and performance, including the testing geometry as well as the scene organization and shape SIZE and triangle COUNT.
Here a couple links to review that may help, but just keep in mind, "simple" navigation with collision is NOT simple, so don't get discouraged!
Implementing Terrain Following and Collision Detection in Java 3D
http://www.j3d.org/tutorials/collision/index.htmlPractical Collision Detection
http://www.gamedev.net/reference/articles/article736.aspGeneral Collision Detection for Games Using Ellipsoids
http://www.gamedev.net/reference/articles/article1026.aspScroll down to Collision Detection
http://www.gamedev.net/reference/list.asp?categoryid=45#99Some Math and Physics for good measure!
http://www.gamedev.net/reference/list.asp?categoryid=28Good colliding!