IGL-Nav: Incremental 3D Gaussian Localization for Image-goal Navigation
Wenxuan Guo*, Xiuwei Xu*, Hang Yin, Ziwei Wang, Jianjiang Feng, Jie Zhou, Jiwen Lu
We propose incremental 3D Gaussian localization for free-view image-goal navigation in IGL-Nav. We support a challenging application scenario where the camera for goal capturing and the agent's camera have very different intrinsics and poses, e.g., a cellphone and a RGB-D camera.
- 2025/07: Project page and demo released! 🚀
- 2025/06: IGL-Nav is accepted to ICCV 2025! 🚀
- Code is coming soon. Stay tuned!
A robot is guided to a cellphone-captured goal image with free view, successfully reaching the target in complex indoor scenes:
The complete and high-quality version of the video demo can be downloaded here.