{"id":"https://openalex.org/W4416058481","doi":"https://doi.org/10.1109/iccv51701.2025.00640","title":"IGL-Nav: Incremental 3D Gaussian Localization for Image-Goal Navigation","display_name":"IGL-Nav: Incremental 3D Gaussian Localization for Image-Goal Navigation","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416058481","doi":"https://doi.org/10.1109/iccv51701.2025.00640"},"language":"en","primary_location":{"id":"doi:10.1109/iccv51701.2025.00640","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccv51701.2025.00640","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/CVF International Conference on Computer Vision (ICCV)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2508.00823","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5071710510","display_name":"Wenxuan Guo","orcid":"https://orcid.org/0009-0007-4823-1587"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenxuan Guo","raw_affiliation_strings":["Tsinghua University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070271175","display_name":"Xiuwei Xu","orcid":"https://orcid.org/0009-0003-2871-5008"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiuwei Xu","raw_affiliation_strings":["Tsinghua University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067144254","display_name":"Hang Yin","orcid":"https://orcid.org/0000-0002-3599-440X"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hang Yin","raw_affiliation_strings":["Tsinghua University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100389366","display_name":"Ziwei Wang","orcid":"https://orcid.org/0000-0001-9225-8495"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Ziwei Wang","raw_affiliation_strings":["Nanyang Technological University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084679040","display_name":"Jianjiang Feng","orcid":"https://orcid.org/0000-0003-4971-6707"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Jianjiang Feng","raw_affiliation_strings":["Nanyang Technological University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038047057","display_name":"Jie Zhou","orcid":"https://orcid.org/0000-0001-5911-8554"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Zhou","raw_affiliation_strings":["Tsinghua University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103740674","display_name":"Jiwen Lu","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiwen Lu","raw_affiliation_strings":["Tsinghua University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.35674636,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"6808","last_page":"6817"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.659600019454956,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.659600019454956,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.08879999816417694,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.06719999760389328,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/margin","display_name":"Margin (machine learning)","score":0.5022000074386597},{"id":"https://openalex.org/keywords/differentiable-function","display_name":"Differentiable function","score":0.49950000643730164},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.46380001306533813},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4415000081062317},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4406999945640564},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.41839998960494995},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.4099999964237213},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.4052000045776367}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7009000182151794},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6746000051498413},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6722000241279602},{"id":"https://openalex.org/C774472","wikidata":"https://www.wikidata.org/wiki/Q6760393","display_name":"Margin (machine learning)","level":2,"score":0.5022000074386597},{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.49950000643730164},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.46380001306533813},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4415000081062317},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4406999945640564},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.41839998960494995},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.4099999964237213},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.4052000045776367},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4007999897003174},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.3522999882698059},{"id":"https://openalex.org/C2776449333","wikidata":"https://www.wikidata.org/wiki/Q7928781","display_name":"View synthesis","level":3,"score":0.34279999136924744},{"id":"https://openalex.org/C194969405","wikidata":"https://www.wikidata.org/wiki/Q170519","display_name":"Virtual reality","level":2,"score":0.33970001339912415},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3215999901294708},{"id":"https://openalex.org/C181095308","wikidata":"https://www.wikidata.org/wiki/Q1541599","display_name":"Geometric primitive","level":2,"score":0.32120001316070557},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.2865000069141388},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.2676999866962433},{"id":"https://openalex.org/C109950114","wikidata":"https://www.wikidata.org/wiki/Q4464732","display_name":"3D reconstruction","level":2,"score":0.266400009393692},{"id":"https://openalex.org/C189950617","wikidata":"https://www.wikidata.org/wiki/Q937228","display_name":"Property (philosophy)","level":2,"score":0.26269999146461487},{"id":"https://openalex.org/C108882727","wikidata":"https://www.wikidata.org/wiki/Q2991685","display_name":"Solid modeling","level":2,"score":0.25679999589920044},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.25040000677108765}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iccv51701.2025.00640","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccv51701.2025.00640","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/CVF International Conference on Computer Vision (ICCV)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2508.00823","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2508.00823","pdf_url":"https://arxiv.org/pdf/2508.00823","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2508.00823","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2508.00823","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2508.00823","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2508.00823","pdf_url":"https://arxiv.org/pdf/2508.00823","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6212963024","display_name":null,"funder_award_id":"624B2076,62376132,62321005","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Visual":[0],"navigation":[1,64],"with":[2,24,133,175],"an":[3,110],"image":[4,57,95,218],"as":[5,30,129],"goal":[6,46,56,142,217],"is":[7,101,163],"a":[8,188,213],"fundamental":[9],"and":[10,44,52,82,118,205],"challenging":[11,201],"problem.":[12],"Conventional":[13],"methods":[14,186],"either":[15],"rely":[16],"on":[17,208],"end-to-end":[18],"RL":[19],"learning":[20],"or":[21,27],"modular-based":[22],"policy":[23],"topological":[25],"graph":[26],"BEV":[28],"map":[29],"memory,":[31],"which":[32,152],"cannot":[33],"fully":[34],"model":[35],"the":[36,40,45,55,67,76,83,126,141,145,161,166,171,199],"geometric":[37,146],"relationship":[38],"between":[39],"explored":[41],"3D":[42,59,69,112,158],"environment":[43],"image.":[47],"In":[48],"order":[49],"to":[50,75,156,165,215],"efficiently":[51],"accurately":[53],"localize":[54,140],"in":[58],"space,":[60],"we":[61,107,123,138,168],"build":[62],"our":[63],"system":[65],"upon":[66],"renderable":[68],"gaussian":[70],"(3DGS)":[71],"representation.":[72],"However,":[73],"due":[74],"computational":[77],"intensity":[78],"of":[79,87],"3DGS":[80,93],"optimization":[81,176],"large":[84,189],"search":[85],"space":[86,150],"6-DoF":[88],"camera":[89],"pose,":[90],"directly":[91],"leveraging":[92,144],"for":[94,116,148],"localization":[96],"during":[97],"agent":[98,162],"exploration":[99],"process":[100],"prohibitively":[102],"inefficient.":[103],"To":[104],"this":[105],"end,":[106],"propose":[108],"IGL-Nav,":[109],"Incremental":[111],"Gaussian":[113],"Localization":[114],"framework":[115],"efficient":[117,157],"3D-aware":[119],"image-goal":[120,203],"navigation.":[121],"Specifically,":[122],"incrementally":[124],"update":[125],"scene":[127],"representation":[128],"new":[130],"images":[131],"arrive":[132],"feed-forward":[134],"monocular":[135],"prediction.":[136],"Then":[137],"coarsely":[139],"by":[143,187],"information":[147],"discrete":[149],"matching,":[151],"can":[153,196],"be":[154,206],"equivalent":[155],"convolution.":[159],"When":[160],"close":[164],"goal,":[167],"finally":[169],"solve":[170],"fine":[172],"target":[173],"pose":[174],"via":[177],"differentiable":[178],"rendering.":[179],"The":[180],"proposed":[181],"IGL-Nav":[182],"outperforms":[183],"existing":[184],"state-of-the-art":[185],"margin":[190],"across":[191],"diverse":[192],"experimental":[193],"configurations.":[194],"It":[195],"also":[197],"handle":[198],"more":[200],"free-view":[202],"setting":[204],"deployed":[207],"real-world":[209],"robotic":[210],"platform":[211],"using":[212],"cellphone":[214],"capture":[216],"at":[219],"arbitrary":[220],"pose.":[221],"Project":[222],"page:":[223],"https://gwxuan.github.io/IGL-Nav/.":[224]},"counts_by_year":[],"updated_date":"2026-08-05T07:39:15.569665","created_date":"2025-10-10T00:00:00"}
