YOPO-Nav paper benchmarks visual navigation on Clearpath Jackal trajectories
YOPO-Nav introduces a visual-navigation method that represents explored environments with interconnected 3D Gaussian Splatting models and evaluates it on Clearpath Jackal trajectories.
Evidence notes
- YOPO-Nav uses one-pass exploration video as visual reference and avoids relying on a metric map by aligning current observations with a compact 3D Gaussian Splatting representation.
- Its hierarchy combines visual place recognition for coarse localization with local 3DGS models to refine poses and generate navigation actions.
- The YOPO-Campus dataset contains four hours of egocentric video and controller inputs from more than six kilometres of human-teleoperated trajectories; benchmarks use a physical Clearpath Jackal.
Company overview
Clearpath Robotics builds unmanned ground vehicles and mobile robot platforms for research, development and field robotics, including Jackal, Husky and related robot bases.