PixelLoop：具有像素级环路的捷径拓扑导航
PixelLoop: Shortcut Topological Navigation with Pixel-Level Loops
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中文总结 AI 辅助
研究拓扑映射和导航中环路闭合作用，提出PixelLoop方法在像素空间引入环路闭合，充当密集拓扑捷径，经模拟实验和真实机器人部署验证，相比基线在成功率和SPL上有显著提升，为拓扑视觉导航提供基础。
中文摘要 AI 辅助
尽管拓扑映射和导航已被广泛研究，但纯拓扑表示中环路闭合的具体作用和下游影响却较少受到关注。基于像素级相对3D几何的更密集拓扑，我们提出PixelLoop，它直接在像素空间引入环路闭合。与SLAM中稀疏图像级边缘或位姿图校正不同，我们的像素级闭合充当密集拓扑捷径，改变规划连通性和成本传播。通过大量模拟实验，与图像相关基线相比，PixelLoop在成功率和SPL上有超35%的绝对提升，在需要捷径利用的场景中增益最大。真实世界移动机器人部署进一步验证了结果，表明密集像素级环路闭合为拓扑视觉导航提供了实用且强大的基础。
英文摘要
Although topological mapping and navigation have been studied extensively, the specific role and downstream effect of loop closures in purely topological representations has received relatively little attention. Importantly, loop closure over topological maps is distinct from loop closure over globally referenced trajectories and metric maps. Building on recent denser topologies grounded in pixel-level, relative 3D geometry, we propose PixelLoop which introduces loop closures directly in pixel space. Unlike sparse image-level edges or pose-graph corrections in SLAM, our pixel-level closures act as dense topological shortcuts that alter planning connectivity and cost propagation rather than merely aligning coordinates. This dense connectivity enables stable any-point-to-any-point navigation and produces costmaps that align accurately with geometric shortest paths. In particular, we showcase the distinct advantage of applying loop closures to fine-grained pixel topologies rather than image-level topologies. Across extensive simulated experiments, PixelLoop achieves over 35% absolute improvement in both Success Rate and SPL compared to image-relative baselines, with the largest gains in scenarios requiring shortcut exploitation. Results are further validated through real-world mobile robot deployments, demonstrating that dense pixel-level loop closures provide a practical and robust foundation for topological visual navigation. Project Page: https://pixelloop-nav.github.io/
发表机构
- Robotics Research Center, IIIT-Hyderabad（国际信息技术学院海得拉巴分校机器人研究中心）
机构由 AI 辅助整理，请以论文原文为准。
