A map-free localization method stores posed RGB-D keyframes, retrieves and re-ranks them with a VLM, then fuses sparse depth for on-demand 3D target estimates, matching reconstruction-based performance on navigation benchmarks with far lower build cost.
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LCGNav improves online topological VLN-CE by converting local depth views to physically truncated 3D point clouds and applying selective dimension-preserving fusion, yielding consistent gains on R2R-CE and RxR-CE benchmarks with open code.
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Memory Over Maps: 3D Object Localization Without Reconstruction
A map-free localization method stores posed RGB-D keyframes, retrieves and re-ranks them with a VLM, then fuses sparse depth for on-demand 3D target estimates, matching reconstruction-based performance on navigation benchmarks with far lower build cost.
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LCGNav: Local Candidate-Aware Geometric Enhancement for General Topological Planning in Vision-Language Navigation
LCGNav improves online topological VLN-CE by converting local depth views to physically truncated 3D point clouds and applying selective dimension-preserving fusion, yielding consistent gains on R2R-CE and RxR-CE benchmarks with open code.