Dual-Layer Semantic-Spatial Belief Mapping for Aerial Object Goal Navigation
A dual-layer semantic-spatial belief mapping framework that transforms transient VLM observations into persistent spatial guidance is proposed, and object-conditioned visual reasoning with conservative evidence qualification is introduced to improve observation reliability before spatial accumulation.
Jian-Qiang Xiao, Xiang Deng, Yue-Xuan Sun et al.
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