Article

Omni-IGN: Omnidirectional Vision Onboard Image-Goal Navigation System for Drones

The authors propose Omni-IGN, a fully onboard drone image-goal navigation (ImageNav) system that integrates quad-fisheye perception, an attention-based reinforcement learning policy, and a collision-aware safety layer. The policy adaptively fuses goal-relevant features across multiple views to provide directional guidance for continuous navigation, and the quad-fisheye RGB images support both ImageNav and obstacle avoidance without a dedicated depth sensor.

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