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

GS-PRM is a Gaussian visual roadmap method for image-goal navigation that constructs milestones, local connections, and visual references directly through 3DGS rendering. It enables collision-free path planning and demonstrates improved performance in simulated and real-world environments, achieving up to twice the average success rate and reducing travel time by 57.2% compared to state-of-the-art systems.