SAGE integrates CLIP embeddings into FALCON via object storage, temporal projection cache, object frontiers, and a bounded semantic-geometric cost, yielding 9-26x faster object discovery than FTU in simulation and higher object counts than FALCON in five real flights.
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Semantic-Aware Guided Drone Exploration for Language-Conditioned 3D Indoor Mapping
SAGE integrates CLIP embeddings into FALCON via object storage, temporal projection cache, object frontiers, and a bounded semantic-geometric cost, yielding 9-26x faster object discovery than FTU in simulation and higher object counts than FALCON in five real flights.