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<!DOCTYPE html>
<html>
<head>
<!-- Google tag (gtag.js) -->
<script async src="https://www.googletagmanager.com/gtag/js?id=G-F28Q22D1LS"></script>
<script>
window.dataLayer = window.dataLayer || [];
function gtag() { dataLayer.push(arguments); }
gtag('js', new Date());
gtag('config', 'G-F28Q22D1LS');
</script>
<meta charset="utf-8">
<meta name="description"
content="LiteVLoc: Map-Lite Visual Localization for Image Goal Navigation">
<meta name="keywords" content="Visual Localization, Mapping, Navigation">
<meta name="viewport" content="width=device-width, initial-scale=1">
<title>OpenNavMap: Structure-Free Topometric Mapping via Large-Scale Collaborative Localization</title>
<link href="https://fonts.googleapis.com/css?family=Google+Sans|Noto+Sans|Castoro"
rel="stylesheet">
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</head>
<body>
<section class="hero">
<div class="hero-body">
<div class="container">
<div class="columns is-centered">
<div class="column has-text-centered">
<img src="./resources/logo_opennavmap.png" width="220" alt="OpenNavMap Logo"></img>
<h1 class="title is-1 publication-title">
OpenNavMap: Structure-Free Topometric Mapping via <br>Large-Scale Collaborative Localization
</h1>
<div class="is-size-4 publication-authors">
<span class="author-block">
<a href="https://gogojjh.github.io/">Jianhao Jiao</a><sup>1</sup>
<a href="https://lck666666.github.io/">Changkun Liu</a><sup>2,3</sup>
<a href="https://jingwenyust.github.io/">Jingwen Yu</a><sup>3</sup>
<a href="">Boyi Liu</a><sup>3</sup>
<a href="https://qianyi-zhang.github.io/">Qianyi Zhang</a><sup>4</sup>
<a href="https://ywang-zju.github.io/">Yue Wang</a><sup>5</sup>
<a href="https://dkanou.github.io/">Dimitrios Kanoulas</a><sup>1,6</sup>
<br>
<span class="is-size-6">
<sup>1</sup>UCL, UK
<sup>2</sup>Dept. of CSE, HKUST, China
<sup>3</sup>Dept. of ECE, HKUST, China
<sup>4</sup>Nankai University, China
<sup>5</sup>Zhejiang University, China
<sup>6</sup>AI Centre, UCL / Athena RC, Greece
</span>
<!-- <br><br>
<img src="./resources/rpl-ucl-logo.png" width="220"></img>
<img src="./resources/hkust_logo.png" width="170"></img>
<img src="./resources/nankai_logo.png" width="120"></img>
<img src="./resources/zju_logo.png" width="120"></img> -->
</span>
</div>
<div class="notification" style="background-color: #e9f6fb; border-left: 5px solid #3298dc; color: #236fa1; font-weight: 500; max-width: 900px; margin: 20px auto 0 auto; font-size: 1.15rem; text-align: center;">
🏆 <strong>Best Paper</strong> at <a href="https://adacompnus.github.io/open-world-navigation-25" target="_blank" style="color: #236fa1; text-decoration: underline;"><strong>IROS 2025 Open World Navigation in Human-centric Environments Workshop</strong></a>
</div>
<div class="column has-text-centered">
<!-- Paper/Preprint Link. -->
<span class="link-block">
<a href="https://arxiv.org/abs/2601.12291"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="ai ai-open-access"></i>
</span>
<span>Arxiv</span>
</a>
</span>
<!-- Video Link. -->
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<a href="https://youtu.be/xx"
class="external-link button is-normal is-rounded is-dark">
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</span>
<span>Video</span>
</a>
</span> -->
<!-- Code Link. -->
<span class="link-block">
<a href="https://github.com/RPL-CS-UCL/OpenNavMap"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fab fa-github"></i>
</span>
<span>Code</span>
</a>
</span>
<!-- Dataset Link. -->
<!-- <span class="link-block">
<a href="https://rpl-cs-ucl.github.io/OpenNavMap_page"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fas fa-database"></i>
</span>
<span>Dataset</span>
</a>
</span> -->
</div>
<section class="section">
<div class="container">
<div class="columns is-centered has-text-centered">
<div class="column is-two-thirds">
<h3 class="title is-2">Abstract</h3>
<div class="content has-text-justified">
<p>
Large-scale visual navigation relies on scalable, easy-to-maintain map representations, which are essential for enabling real-world robot deployments. While collaborative localization across multiple mapping sessions offers efficiency, conventional structure-based approaches face high maintenance costs and often fail in feature-less environments or under large viewpoint changes. To tackle these challenges, we introduce <b>OpenNavMap</b>: a lightweight, structure-free topometric mapping system that uses 3D geometric foundation models for on-demand reconstruction. Our method combines sequence matching, geometric verification, and robust optimization to align submaps precisely, all without needing pre-built 3D models. On the Map-Free benchmark, OpenNavMap outperforms structure-from-motion and regression baselines, achieving high accuracy in relocalization and map merging across a wide range of real-world scenarios. We additionally demonstrate reliable image-goal navigation with real and simulated robots.
</p>
</div>
</div>
</div>
</div>
<section class="section">
<div class="container">
<div class="columns is-centered">
<div class="column is-full-width">
<h2 class="title is-2" style="text-align: center; padding-bottom: 0px;">
Video
</h2>
<td>
<div class="row">
<div class="col">
<video playsinline controls src="./resources/paper_opennavmap_submission.mp4"
width="80%" style="border-radius:10px; "></video>
</div>
</div>
</td>
</div>
</div>
</div>
</section>
<!-- <section class="section">
<div class="container">
<div class="columns is-centered">
<div class="column is-full-width">
<h2 class="title is-2" style="text-align: center; padding-bottom: 10px;">
Evaluation on the Dataset for Map-Free Relocalization</h2>
<h5>
<center>
We evaluate 13 state-of-the-art image matching methods under severe
viewpoint changes, occlusions, and lighting variations. This will serve as
an important experiment for our work.
</center>
<center>
More results can be found this <a
href="https://drive.google.com/drive/folders/1Q5rYfrmgFHx51MKRK_88bmSUhpo4wZe2?usp=sharing">page</a>.
</center>
</h5>
<br>
<img src="./resources/map_free_reloc/map_free_data_example.png"
width="100%"></img>
<br></br>
<img src="./resources/map_free_reloc/feature_matching_simu_0.png"
width="75%"></img>
<br></br>
<img src="./resources/map_free_reloc/feature_matching_real_0.png"
width="75%"></img>
<br></br>
<img src="./resources/map_free_reloc/feature_matching_real_1.png"
width="75%"></img>
<br></br>
<img src="./resources/map_free_reloc/feature_matching_real_2.png"
width="75%"></img>
</div>
</div>
</div>
</section>
<section class="section">
<div class="container">
<div class="columns is-centered">
<div class="column is-full-width">
<h2 class="title is-2" style="text-align: center; padding-bottom: 10px;">
Visual Localization Evaluation</h2>
<h5>
<center>
We evaluate the proposed LiteVLoc on 9 Simulated Sequences
</center>
</h5>
<br>
<div class="row">
<div class="col">
<img src="./resources/vloc_exp/17DRP5sb8fy_seq0_trajectory_top-1.png"
width="100%"></img>
</div>
<div class="col">
<img src="./resources/vloc_exp/17DRP5sb8fy_seq1_trajectory_top-1.png"
width="100%"></img>
</div>
<div class="col">
<img src="./resources/vloc_exp/17DRP5sb8fy_seq1_trajectory_top-1.png"
width="100%"></img>
</div>
</div>
<div class="row">
<div class="col">
<img src="./resources/vloc_exp/EDJbREhghzL_seq2_trajectory_top-1.png"
width="100%"></img>
</div>
<div class="col">
<img src="./resources/vloc_exp/EDJbREhghzL_seq0_trajectory_top-1.png"
width="100%"></img>
</div>
<div class="col">
<img src="./resources/vloc_exp/EDJbREhghzL_seq1_trajectory_top-1.png"
width="100%"></img>
</div>
</div>
<div class="row">
<div class="col">
<img src="./resources/vloc_exp/B6ByNegPMK_seq0_trajectory_top-1.png"
width="100%"></img>
</div>
<div class="col">
<img src="./resources/vloc_exp/B6ByNegPMK_seq1_trajectory_top-1.png"
width="100%"></img>
</div>
<div class="col">
<img src="./resources/vloc_exp/B6ByNegPMK_seq2_trajectory_top-1.png"
width="100%"></img>
</div>
</div>
<h5>
<center>
We evaluate the proposed LiteVLoc on 3 Real-World Sequences
</center>
</h5>
<div class="row">
<div class="col">
<img src="./resources/vloc_exp/ops_msg_seq2_trajectory_top-1.png"
width="100%"></img>
</div>
<div class="col">
<img src="./resources/vloc_exp/ops_msg_seq0_trajectory_top-1.png"
width="100%"></img>
</div>
<div class="col">
<img src="./resources/vloc_exp/ops_msg_seq1_trajectory_top-1.png"
width="100%"></img>
</div>
</div>
</div>
</div>
</div>
</section>
<section class="section">
<div class="container">
<div class="columns is-centered">
<div class="column is-full-width">
<h2 class="title is-2" style="text-align: center; padding-bottom: 10px;">
Cloud-Loop Visual Navigation on Simulated Environments</h2>
<img src="./resources/simulated_exp/exp_simu_map.png" width="100%">
<br></br>
<h5>Left to Right: Goal Image - Feature Matching Result - Visual Observation
(Color and Depth Image)
</h5>
<h5><span style="color:red;">Red Trajectory</span>: Estimated Trajectory.
<span style="color:green;">Green Trajectory</span>: Planned Trajectory
</h5>
</h5>
<td>
<div class="row">
<div class="col">
<video autoplay muted loop playsinline controls
src="./resources/simulated_exp/vnav_simu_seq0_rviz_5x.mp4"
width="100%" style="border-radius:10px; "></video>
</div>
<div class="col">
<video autoplay muted loop playsinline controls
src="./resources/simulated_exp/vnav_simu_seq1_rviz_5x.mp4"
width="100%" style="border-radius:10px; "></video>
</div>
<div class="col">
<video autoplay muted loop playsinline controls
src="./resources/simulated_exp/vnav_simu_seq2_rviz_5x.mp4"
width="100%" style="border-radius:10px; "></video>
</div>
</div>
</td>
</div>
</div>
</div>
</section>
<section class="section">
<div class="container">
<div class="columns is-centered">
<div class="column is-full-width">
<h2 class="title is-2" style="text-align: center; padding-bottom: 0px;">
Cloud-Loop Visual Navigation on Real-World Environments
</h2>
<h4 style="text-align: center; padding-bottom: 10px;">
Real-World Deployment
</h4>
<img src="./resources/realworld_exp/experimental_platform_anymal.png"
width="75%">
<br></br>
<h4 style="text-align: center; padding-bottom: 10px;">
Environment 0 (Small Scale)
</h4>
<img src="./resources/realworld_exp/exp_real_world_map_meta.png" width="100%">
<br></br>
<h4>Goal Images are Given Sequentially
</h4>
<td>
<div class="row">
<div class="col">
<img src="./resources/realworld_exp/ops_lab_goal_image/goal_img_0.jpg"
width="100%">
</div>
<div class="col">
<img src="./resources/realworld_exp/ops_lab_goal_image/goal_img_1.jpg"
width="100%">
</div>
<div class="col">
<img src="./resources/realworld_exp/ops_lab_goal_image/goal_img_2.jpg"
width="100%">
</div>
<div class="col">
<img src="./resources/realworld_exp/ops_lab_goal_image/goal_img_3.jpg"
width="100%">
</div>
<div class="col">
<img src="./resources/realworld_exp/ops_lab_goal_image/goal_img_4.jpg"
width="100%">
</div>
</div>
</td>
<p></p>
<td>
<div class="row">
<div class="col">
<video autoplay muted loop playsinline controls
src="./resources/realworld_exp/vnav_real_ops_lab_seq2_x5.mp4"
width="100%" style="border-radius:10px; "></video>
</div>
<div class="col">
<video autoplay muted loop playsinline controls
src="./resources/realworld_exp/vnav_real_ops_lab_seq2_rviz_x5.mp4"
width="100%" style="border-radius:10px; "></video>
</div>
</div>
</td>
<td>
<div class="row">
<div class="col">
<video autoplay muted loop playsinline controls
src="./resources/realworld_exp/vnav_real_ops_lab_seq0_8x.mp4"
width="50%" style="border-radius:10px; "></video>
</div>
</div>
</td>
<br></br>
<h4 style="text-align: center; padding-bottom: 10px;">
Environment 1 (Larger Scale)
</h4>
<img src="./resources/realworld_exp/exp_real_world_map_zed.png" width="100%">
<br></br>
<h4>Goal Images are Given Sequentially
</h4>
<td>
<div class="row">
<div class="col">
<img src="./resources/realworld_exp/ops_msg_goal_image/goal_img_0.jpg"
width="100%">
</div>
<div class="col">
<img src="./resources/realworld_exp/ops_msg_goal_image/goal_img_1.png"
width="85%">
</div>
<div class="col">
<img src="./resources/realworld_exp/ops_msg_goal_image/goal_img_2.jpg"
width="100%">
</div>
<div class="col">
<img src="./resources/realworld_exp/ops_msg_goal_image/goal_img_3.jpg"
width="100%">
</div>
</div>
</td>
<p></p>
<td>
<div class="row">
<div class="col">
<video autoplay muted loop playsinline controls
src="./resources/realworld_exp/vnav_real_ops_msg_seq0_x8.mp4"
width="100%" style="border-radius:10px; "></video>
</div>
<div class="col">
<video autoplay muted loop playsinline controls
src="./resources/realworld_exp/vnav_real_ops_msg_seq0_2_x8.mp4"
width="100%" style="border-radius:10px; "></video>
</div>
</div>
</td>
<td>
<div class="row">
<div class="col">
<video autoplay muted loop playsinline controls
src="./resources/realworld_exp/vnav_real_ops_msg_seq1_x8.mp4"
width="100%" style="border-radius:10px; "></video>
</div>
<div class="col">
<video autoplay muted loop playsinline controls
src="./resources/realworld_exp/vnav_real_ops_msg_seq4_x8.mp4"
width="100%" style="border-radius:10px; "></video>
</div>
</div>
</td>
<td>
<div class="row">
<div class="col">
<video autoplay muted loop playsinline controls
src="./resources/realworld_exp/vnav_real_ops_msg_seq5_x8.mp4"
width="50%" style="border-radius:10px; "></video>
</div>
</div>
</td>
</div>
</div>
</div>
</section>
<section class="section">
<div class="container">
<div class="columns is-centered">
<div class="column is-full-width">
<h2 class="title is-2" style="text-align: center; padding-bottom: 0px;">
Snippets
</h2>
<h4 style="text-align: center; padding-bottom: 10px;">
Manual Intervention
</h4>
<td>
<div class="row">
<div class="col">
<video autoplay muted loop playsinline controls
src="./resources/manual_intervention/manual_intervention_0_x3.mp4"
width="100%" style="border-radius:10px; "></video>
</div>
<div class="col">
<video autoplay muted loop playsinline controls
src="./resources/manual_intervention/manual_intervention_1_x3.mp4"
width="100%" style="border-radius:10px; "></video>
</div>
</div>
</td>
<br></br>
<h4 style="text-align: center; padding-bottom: 10px;">
Obstacle Avoidance
</h4>
<td>
<div class="row">
<div class="col">
<video autoplay muted loop playsinline controls
src="./resources/obstacle/obstacle_avoidance_0_x1.mp4" width="100%"
style="border-radius:10px; "></video>
</div>
<div class="col">
<video autoplay muted loop playsinline controls
src="./resources/obstacle/obstacle_avoidance_1_x1.mp4" width="100%"
style="border-radius:10px; "></video>
</div>
</div>
<div class="row">
<div class="col">
<video autoplay muted loop playsinline controls
src="./resources/obstacle/obstacle_avoidance_3_x1.mp4" width="50%"
style="border-radius:10px; "></video>
</div>
</div>
</td>
<br></br>
<h4 style="text-align: center; padding-bottom: 10px;">
Failure: Collision Because the Camera Cannot Recover Depth of Short-Distance
Obstacles
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<section class="section" id="BibTeX">
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<h2 class="titile">BibTeX</h2>
<pre><code>
@article{jiao2025opennavmap,
title = {{OpenNavMap}: Structure-Free Topometric Mapping via Large-Scale Collaborative Localization},
author = {Jianhao Jiao and Changkun Liu and Jingwen Yu and Boyi Liu and Qianyi Zhang and Yue Wang and Dimitrios Kanoulas},
journal = {Under Review},
year = {2025},
note = {arXiv preprint arXiv:2601.12291},
url = {https://rpl-cs-ucl.github.io/OpenNavMap_page},
}
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