ResearchBenchmarksAerial 3D exploration on Indoor Layout 2Aerial 3D exploration on Indoor Layout 2Follow2,970.1Coverage Distance AUCOPAL-NFP2,745.982,804.1652,862.352,920.535May 25, 2026Evaluation resultsMethodMethodLinksCoverage Distance AUCDistance (m)Total elapsed time (s)OPAL-NFPRadius (rv)=10Radius (rv)=102026.052,970.124.254FALCON2026.052,755.832.532OPAL-NFPRadius (rv)=3.5Radius (rv)=3.52026.052,754.627.841.3