arXiv:2611.06635v1 Announce Type: new Abstract: Unmanned aerial vehicle (UAV)-based collaborative perception enables multiple agents to share complementary perceptual information, overcoming limitati...
arXiv:2607. 00191v1 Announce Type: cross Abstract: Collaborative-perception enables multi-robot systems to enhance situational awareness by sharing perceptual information.
CoCam4D is a Bayesian framework for camera-only autonomous driving that models geometric uncertainty in collaborative perception. It employs a VGGT-based network to produce 3D Gaussian scene representations with uncertainty estimates, allowing multiple vehicles to fuse observations without LiDAR. The system introduces Dynamic Object Primitives, a 35‑byte format for efficient C‑V2X communication, and shows significant performance gains over recent vision-only methods on OPV2V+ and DAIR‑V2X‑C benchmarks.
arXiv:2608. 09564v1 Announce Type: cross Abstract: UAV vision-language navigation (UAV-VLN) focuses on enabling an aerial agent to follow natural-language instructions in open 3D environments from egocentric visual observations.
arXiv:2606. 09919v1 Announce Type: cross Abstract: Perceptual uncertainty is a central challenge for heterogeneous robot teams operating in unstructured outdoor environments, where no single viewpoint affords reliable scene understanding.
Aerial image-goal navigation requires an unmanned aerial vehicle (UAV) to reach a target location specified by a goal image. Existing world-model-based methods rank candidate trajectories using predicted futures, but typically rely on only one or a few point predictions, which is inadequate for large-scale outdoor environments with substantial future-state uncertainty.
The paper introduces AeroBelief, a dual‑layer semantic‑spatial belief mapping framework for aerial object goal navigation. It separates broad contextual plausibility (intuition layer) from target‑specific evidence (evidence layer) and fuses them into persistent spatial belief hotspots, while also employing object‑conditioned visual reasoning and temporally stable regional guidance. Experiments on the UAV‑ON benchmark show AeroBelief outperforms prior methods in success rate, object success rate, and SPL.
The paper introduces AeroBelief, a dual‑layer semantic‑spatial belief mapping framework for aerial object goal navigation. It separates broad contextual plausibility (intuition layer) from target‑specific evidence (evidence layer) and fuses them into persistent spatial belief hotspots. The method also employs object‑conditioned visual reasoning and egocentric regional guidance, achieving state‑of‑the‑art success rates on the UAV‑ON benchmark.
arXiv:2608. 09202v1 Announce Type: new Abstract: Modern autonomous vehicles are equipped with multiple sensors, such as cameras, LiDAR, and radar, for comprehensive environmental perception.
The paper introduces CrossUAV, a benchmark for joint object detection and instance segmentation in UAV imagery, and proposes Cross-Granularity Socialized Collaboration (CGSC), a framework that regulates hierarchical interactions between tasks. CGSC progressively activates cross-task exchanges and adaptively adjusts interaction strength based on task contribution, aiming to reduce interference and exploit complementary coarse- and fine-grained knowledge. Experiments show consistent improvements on both detection and segmentation tasks, supporting the effectiveness of hierarchical dynamic interaction for cross-granularity collaboration.
The paper studies how open‑vocabulary segmentation models perform on UAV footage, focusing on temporal consistency of predictions. By linking frame‑wise outputs to persistent 3D voxels via metric fusion, the authors propose a voxel‑level evaluation that measures final agreement, Semantic Belief Drift, Observation Persistence, and uncertainty. Experiments on UAVid‑3D show that high overall agreement can mask instability when observations are sparse, and that persistence‑stratified analysis reveals greater disagreement for recurrent voxels while belief drift reduces with more evidence.
arXiv:2608. 07557v1 Announce Type: cross Abstract: Vision-Language Navigation for Unmanned Aerial Vehicles (UAV-VLN) requires rapid and reactive control in complex 3D environments.