Hybrid map mosaicing: A novel approach for large area mapping

Abstract

In this paper, we propose a new approach to global mapping of ground free spaces from aerial views in structured outdoor environments. The presented approach makes a topological mosaicing based on free space skeletonization and graph matching. The obtained environment model is a ground traversability map represented as a hybrid topological/metrical graph, which is a very suitable representation for ground navigation and planing. To validate this approach, the proposed algorithm is applied on aerial views provided by a UAV evolving over an experimental site and is compared with a recent state-of-the-art mosaicing solution.