Abstract
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.
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Notes
Situated in Clermont-Ferrand town in France.
Using ROS Indigo and Ubuntu(64-bit) 14.4. Computer specification: Intel Core i7 @2.5GHz, 16GB RAM.
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Acknowledgements
We would like to thank 4DVirtualiz company that allows us to evaluate our algorithm with the help of their software. The latter was very useful to make simulations in realistic environments.
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This is one of the several papers published in Autonomous Robots comprising the Special Issue on Multi-Robot and Multi-Agent Systems.
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Renaudeau, B., Labbani-Igbida, O. & Mourioux, G. Air-ground cooperative topometric mapping of traversable ground. Auton Robot 44, 705–720 (2020). https://doi.org/10.1007/s10514-019-09872-1
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DOI: https://doi.org/10.1007/s10514-019-09872-1