Author

Ashraf Siddique

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Preprint Oct 2026

GS-PRM: Gaussian Visual Roadmap for Image-Goal Navigation

This work introduces GS-PRM, a Gaussian visual roadmap whose milestones, local connections, and visual references are constructed directly through 3DGS rendering without deriving an occupancy grid or signed distance field, and defines render-based collision-free (RC-free) configurations and paths.

Ashraf Siddique, Kyung Min Han, Young J. Kim · 0 citations