PixelLoop

Topological navigation methods such as MASt3R-Nav represent an environment as a graph of places rather than a metric map. They work well until the agent revisits somewhere it has already been and fails to notice — so the graph grows a redundant branch instead of a shortcut.

PixelLoop adds pixel-level loop closures to that pipeline: matches are established at pixel granularity, which is precise enough to confirm a revisit and wire the shortcut into the topological map.

I co-developed the loop-detection pipeline and ran its benchmark evaluation. Accepted to IROS 2026 (Chittawar et al., 2026).