IGL-Nav: Incremental 3D Gaussian Localization for Image-goal Navigation

Paper | Project Page | Video Demo

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.

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News

• 2025/07: Project page and demo released! 🚀
• 2025/06: IGL-Nav is accepted to ICCV 2025! 🚀
• Code is coming soon. Stay tuned!

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Demo

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.