Pathfinder

This code is an implementation of our work "Pathfinder for Low-altitude Aircraft with Binary Neural Network", published in IROS 2025.

Citation

If you find our code useful for your research, please consider citing:

@inproceedings{yin2025pathfinder,
  title={Pathfinder for Low-altitude Aircraft with Binary Neural Network},
  author={Yin, Kaijie and Gao, Tian and Kong, Hui},
  booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2025}
}

Prepare

1. Requirements:

• PyTorch (version 2.5.1)
• numpy
• timm
• transformers (version 4.39.2)

2. Data:

• We currently provide the RS-LVF dataset: GoogleDrive

Models

• RS-LVF: GoogleDrive
• SensatUrban: GoogleDrive

Acknowledgements

Our code refers to PMF and BHViT.

Our dataset refers to MARS-LVIG Dataset.

Contact

Any problem, please contact the first author (Email: yin.kaijie at connect.um.edu.mo)