LOCOMOTION
飞向图像指定目标：基于跨图记忆与视点规划的三维四旋翼导航
Junjie Gao, Yuqi Chen, Yongzhou Pan, Yaosheng Deng, Jiaping Xiao, Mir Feroskhan
- 发表年份
- 2026
- 访问权限
- 开放获取
摘要
本文提出一种分层导航框架，用于四旋翼无人机执行实例图像目标导航任务，通过生成视点感知的动作节点并利用轻量级语义记忆传播上下文信息，实现安全高效的3D飞行路径规划。仿真实验表明该方法在多个强基线基础上取得了一致性改进。
关键词
quadrotor navigationinstance image goalviewpoint planningsemantic memoryhierarchical framework
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