Air-ground cooperative topometric mapping of traversable ground
作者： Brice Renaudeau , Ouiddad Labbani-Igbida , Gilles Mourioux
DOI: 10.1007/S10514-019-09872-1
关键词:
摘要: In this paper, we propose an approach for cooperative mapping of traversable ground from aerial and views in structured outdoor indoor environments. The presented achieves a hybrid map building based on skeletonization graph matching. obtained is augmented traversability map, represented as topological/metric heterogeneous sources. This provides very suitable representation navigation planning. To validate approach, the proposed algorithm applied between views, provided by UAV flying over experimental site, maps robots at different exploration stages, realistic simulation real-world
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