MASt3R-Nav: Pixel-Relative Navigation Without Global Maps
Researchers propose MASt3R-Nav, a novel visual navigation method using pixel-relative connectivity in 3D maps, eliminating the need for globally consistent geometry. Inspired by recent 3D grounded image matching, the system constructs a map from image sequences via inter-image pixel correspondences in relative 3D coordinate systems. This pixel-level graph enables global path planning through intra-image pixel connectivity approximation and sparsification, yielding a 'WayPixel Costmap' representation. The approach bridges the gap between classical 3D maps and topological graphs, offering geometric accuracy without global consistency. The paper is available on arXiv under ID 2605.24111.
Key facts
- MASt3R-Nav uses pixel-relative connectivity for navigation.
- It does not require globally consistent geometry.
- Map is built from image sequences using inter-image pixel correspondences.
- Relative 3D coordinate systems are used for individual image pairs.
- Global path planning is achieved via pixel-level graph.
- Intra-image pixel connectivity is approximated and sparsified.
- The representation is called a 'WayPixel Costmap'.
- Paper is on arXiv with ID 2605.24111.
Entities
Institutions
- arXiv