GaussNav: Gaussian Splatting for Visual Navigation

arXiv:2403.11625v1 Announce Type: new
Abstract: In embodied vision, Instance ImageGoal Navigation (IIN) requires an agent to locate a specific object depicted in a goal image within an unexplored environment. The primary difficulty of IIN stems from the necessity of recognizing the target object across varying viewpoints and rejecting potential distractors.
Existing map-based navigation methods largely adopt the representation form of Bird's Eye View (BEV) maps, which, however, lack the representation of detailed textures in a scene.
To address the above …

abstract agent arxiv cs.cv embodied environment image instance map navigation object type vision visual visual navigation