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.

中文翻译：

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可穿越地面的空地协同地形图

在本文中，我们提出了一种在结构化室外和室内环境中从空中和地面视图对可穿越地面进行协作映射的方法。提出的方法基于可遍历的地面骨架化和图形匹配实现了混合地图的构建。所获得的图是增强的地面可穿越性图，表示为来自异构源的混合拓扑/度量图。这种方法非常适合地面导航和规划。为了验证这种方法，在现实仿真和现实环境中，将拟议算法应用于无人机在实验现场上空飞行提供的鸟瞰图与地面机器人在不同探索阶段的地面地图之间。