EZREAL: Enhancing Zero-Shot Outdoor Robot Navigation toward Distant Targets under Varying Visibility
🔥 The Core System has been fully implemented and pushed.
👉 Please check the master branch for the latest code.
We will open-source EZREAL in two stages:
The following core modules have already been released on the master branch:
- Multi-scale tile perception
- Saliency-enhanced distant target detection
- Visibility-robust heading estimation
- ROS-ready implementation for simulation and real robots
- Real-time advanced frontier detector (>100Hz in test)
This part is fully functional and supports complete evaluation of the paper’s main capability:
🚀 Zero-Shot Outdoor Navigation (ZSON)
📍 Robust navigation toward distant targets
🌫 Stable performance under varying visibility & occlusion
We also provide visualization tools that clearly illustrate each module of the system.
We are currently improving the planning and active search module.
The following components will be released later:
- Active search strategy
- Fallback navigation for long-term occlusion
These modules are independent of the core system and not required to test the main results.
The core system already works with any existing planner that subscribes to the chosen frontier goal topic.
Updating date: 11.24