{"id":"https://openalex.org/W7166685277","doi":"https://doi.org/10.48550/arxiv.2606.29917","title":"Flying to Image-Specified Objects: 3D Quadrotor Navigation via Cross-Graph Memory and Viewpoint Planning","display_name":"Flying to Image-Specified Objects: 3D Quadrotor Navigation via Cross-Graph Memory and Viewpoint Planning","publication_year":2026,"publication_date":"2026-06-29","ids":{"openalex":"https://openalex.org/W7166685277","doi":"https://doi.org/10.48550/arxiv.2606.29917"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.29917","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.29917","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.29917","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5112625169","display_name":"Gao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gao, Junjie","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139684148","display_name":"Yuqi Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Yuqi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025164031","display_name":"\u6f58\u52c7\u821f","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pan, Yongzhou","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020778730","display_name":"Yaosheng Deng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Deng, Yaosheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139677995","display_name":"Jiaping Xiao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xiao, Jiaping","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5139677825","display_name":"Mir Feroskhan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Feroskhan, Mir","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.25209999084472656,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.25209999084472656,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.22290000319480896,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.1647000014781952,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5658000111579895},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5501999855041504},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5317000150680542},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.5205000042915344},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4648999869823456},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4368000030517578},{"id":"https://openalex.org/keywords/viewpoints","display_name":"Viewpoints","score":0.42309999465942383},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.421099990606308},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.40149998664855957}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7519000172615051},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6115000247955322},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5658000111579895},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5501999855041504},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5491999983787537},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5317000150680542},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.5205000042915344},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4648999869823456},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4368000030517578},{"id":"https://openalex.org/C2776035091","wikidata":"https://www.wikidata.org/wiki/Q7928819","display_name":"Viewpoints","level":2,"score":0.42309999465942383},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.421099990606308},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.40149998664855957},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.3874000012874603},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.36899998784065247},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.36070001125335693},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.35600000619888306},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3513000011444092},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.3181999921798706},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3086000084877014},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.30320000648498535},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.28290000557899475},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.2824000120162964},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.27810001373291016},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.27410000562667847},{"id":"https://openalex.org/C2987834672","wikidata":"https://www.wikidata.org/wiki/Q4677630","display_name":"Action recognition","level":3,"score":0.2734000086784363},{"id":"https://openalex.org/C2778761605","wikidata":"https://www.wikidata.org/wiki/Q3565782","display_name":"Navigational aid","level":2,"score":0.263700008392334},{"id":"https://openalex.org/C64754055","wikidata":"https://www.wikidata.org/wiki/Q7574053","display_name":"Spatial contextual awareness","level":2,"score":0.26019999384880066},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.2590000033378601},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.25699999928474426}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.29917","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.29917","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.29917","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.29917","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.7432209253311157}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Instance-Specific":[0],"Image-Goal":[1],"Navigation":[2],"(InstanceImageNav)":[3],"requires":[4],"a":[5,16,51,132],"robot":[6,89],"to":[7,22,27,71,90,113,115],"navigate":[8],"toward":[9],"the":[10,74,88,98,126,158,163],"exact":[11],"object":[12],"instance":[13],"depicted":[14],"in":[15,145],"query":[17],"image.":[18],"Extending":[19],"this":[20],"task":[21],"quadrotors":[23],"is":[24],"challenging":[25],"due":[26],"continuous":[28],"3D":[29,138],"control,":[30],"limited":[31],"field":[32],"of":[33,68,162],"view":[34],"(FOV),":[35],"and":[36,83,107,131,153,160],"safety":[37],"constraints,":[38],"which":[39],"make":[40],"successful":[41],"navigation":[42,53],"highly":[43],"dependent":[44],"on":[45],"selecting":[46],"informative":[47,94],"viewpoints.":[48],"We":[49],"propose":[50],"hierarchical":[52],"framework":[54],"for":[55,96,119,141],"quadrotor":[56,155],"InstanceImageNav":[57],"that":[58],"separates":[59],"high-level":[60],"decision":[61,120],"making":[62],"from":[63],"low-level":[64],"motion":[65],"execution.":[66,143],"Instead":[67],"navigating":[69],"directly":[70],"spatial":[72],"locations,":[73],"system":[75],"generates":[76,135],"viewpoint-aware":[77],"action":[78,117,129],"nodes":[79,118],"around":[80],"frontier":[81],"regions":[82],"potential":[84],"target":[85,99],"objects,":[86],"enabling":[87],"explore":[91],"while":[92],"maintaining":[93],"viewpoints":[95],"detecting":[97],"instance.":[100],"A":[101,122],"lightweight":[102],"semantic":[103,111],"memory":[104],"maintains":[105],"object-level":[106],"observation-level":[108],"context,":[109],"allowing":[110],"cues":[112],"propagate":[114],"candidate":[116],"making.":[121],"learning-based":[123],"policy":[124],"selects":[125],"most":[127],"promising":[128],"node,":[130],"trajectory":[133],"planner":[134],"dynamically":[136],"feasible":[137],"flight":[139],"paths":[140],"safe":[142],"Experiments":[144],"simulation":[146],"demonstrate":[147],"consistent":[148],"improvements":[149],"over":[150],"strong":[151],"baselines,":[152],"real-world":[154],"flights":[156],"validate":[157],"practicality":[159],"robustness":[161],"proposed":[164],"framework.":[165]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-07-01T00:00:00"}