[2603.21046] SpatialFly: Geometry-Guided Representation Alignment for UAV Vision-and-Language Navigation in Urban Environments

Computer Science > Computer Vision and Pattern Recognition arXiv:2603.21046 (cs) [Submitted on 22 Mar 2026] Title:SpatialFly: Geometry-Guided Representation Alignment for UAV Vision-and-Language Navigation in Urban Environments Authors:Wen Jiang, Kangyao Huang, Li Wang, Wang Xu, Wei Fan, Jinyuan Liu, Shaoyu Liu, Hanfang Liang, Hongwei Duan, Bin Xu, Xiangyang Ji View a PDF of the paper titled SpatialFly: Geometry-Guided Representation Alignment for UAV Vision-and-Language Navigation in Urban Environments, by Wen Jiang and 10 other authors View PDF Abstract:UAVs play an important role in applications such as autonomous exploration, disaster response, and infrastructure inspection. However, UAV VLN in complex 3D environments remains challenging. A key difficulty is the structural representation mismatch between 2D visual perception and the 3D trajectory decision space, which limits spatial reasoning. To this end, we propose SpatialFly, a geometry-guided spatial representation framework for UAV VLN. Operating on RGB observations without explicit 3D reconstruction, SpatialFly introduces a geometry-guided 2D representation alignment mechanism. Specifically, the geometric prior injection module injects global structural cues into 2D semantic tokens to provide scene-level geometric guidance. The geometry-aware reparameterization module then aligns 2D semantic tokens with 3D geometric tokens through cross-modal attention, followed by gated residual fusion to preserve semantic discr...