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This paper introduces AeroBelief, a dual-layer semantic-spatial belief mapping framework designed to enhance Aerial Object Goal Navigation (ObjectNav) for unmanned aerial vehicles (UAVs). By separating broad contextual plausibility from target-specific evidence, AeroBelief effectively transforms noisy visual observations from vision-language models into persistent spatial guidance, significantly improving navigation performance. Experimental results on the UAV-ON benchmark demonstrate that AeroBelief achieves superior success rates and efficiency metrics compared to existing methods, underscoring the framework's effectiveness in real-world applications.
Transforming noisy visual observations into reliable spatial guidance, AeroBelief achieves unprecedented navigation success rates for UAVs in complex environments.
Aerial Object Goal Navigation (ObjectNav) requires an unmanned aerial vehicle (UAV) to locate a described target in an unknown outdoor environment using onboard visual observations. Vision-language models (VLMs) can interpret open-ended target descriptions and visual observations, but their frame-level outputs are often noisy, sparse, and spatially transient. We propose AeroBelief, a dual-layer semantic-spatial belief mapping framework that transforms transient VLM observations into persistent spatial guidance. It separates broad contextual plausibility from target-specific evidence: an intuition layer accumulates scene-level semantic cues for exploration, while an evidence layer preserves qualified target-specific observations for approach and confirmation. Evidence-gated fusion combines the two layers into spatial belief hotspots. We further introduce object-conditioned visual reasoning with conservative evidence qualification to improve observation reliability before spatial accumulation. In parallel, egocentric regional guidance converts quadtree coverage into UAV-centered, yaw-aligned directional proposals and stabilizes them through temporal commitment. Its regional scoring is independent of semantic belief values, maintaining exploration pressure and reducing repeated low-gain search. Experiments on the UAV-ON benchmark show that AeroBelief achieves the best reported overall SR, OSR, and SPL among the compared methods, reaching 21.61%, 35.57%, and 10.62, respectively. These results support the effectiveness of persistent semantic-spatial belief, conservative evidence qualification, and temporally stable regional guidance for aerial ObjectNav.
