Air-ground cooperative topometric mapping of traversable ground
| Autor: | Gilles Mourioux, Ouiddad Labbani-Igbida, Brice Renaudeau |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Air ground Computer science business.industry 02 engineering and technology Skeletonization Computer Science::Robotics 020901 industrial engineering & automation Artificial Intelligence 0202 electrical engineering electronic engineering information engineering Graph (abstract data type) Robot 020201 artificial intelligence & image processing Computer vision Artificial intelligence business |
| Zdroj: | Autonomous Robots. 44:705-720 |
| ISSN: | 1573-7527 0929-5593 |
| DOI: | 10.1007/s10514-019-09872-1 |
| Popis: | In this paper, we propose an approach for cooperative mapping of traversable ground from aerial and ground views in structured outdoor and indoor environments. The presented approach achieves a hybrid map building based on traversable ground skeletonization and graph matching. The obtained map is an augmented ground traversability map, represented as a hybrid topological/metric graph from heterogeneous sources. This approach provides a very suitable representation for ground navigation and planning. To validate this approach, the proposed algorithm is applied between aerial views, provided by a UAV flying over an experimental site, and ground maps from ground robots at different exploration stages, in realistic simulation and real-world environments. |
| Databáze: | OpenAIRE |
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