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.
Move to understand a 3d scene: Bridging visual grounding and exploration for efficient and versatile embodied navigation,
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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.