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

- Source: arXiv cs.RO
- Published: 2026-10-28T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/gbiarcndii64yusx4qa2duunh
- Original: https://arxiv.org/abs/2610.36968

## Summary

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.