arxivcs.RO2026-06-29
Flying to Image-Specified Objects: 3D Quadrotor Navigation via Cross-Graph Memory and Viewpoint Planning
Junjie Gao, Yuqi Chen, Yongzhou Pan, Yaosheng Deng, Jiaping Xiao, Mir Feroskhan
Instance-Specific Image-Goal Navigation (InstanceImageNav) requires a robot to navigate toward the exact object instance depicted in a query image. Extending this task to quadrotors is challenging due to continuous 3D control, limited field of view (FOV), and safety constraints,…