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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