MorphoNavi: デジタルツインにおけるオブジェクト指向マッピングを用いた空陸両用ロボットナビゲーション
MorphoNavi: Aerial-Ground Robot Navigation with Object Oriented Mapping in Digital Twin
単眼カメラのみを用いて多様な物体を検出・位置推定し、デジタルツイン上で空陸両用ロボットをナビゲートするシステムを提案。模擬災害救助シナリオで有効性を実証した。
著者: Sausar Karaf, Mikhail Martynov, Oleg Sautenkov, Zhanibek Darush, Dzmitry Tsetserukou
分類: cs.RO
原文アブストラクト
This paper presents a novel mapping approach for a universal aerial-ground robotic system utilizing a single monocular camera. The proposed system is capable of detecting a diverse range of objects and estimating their positions without requiring fine-tuning for specific environments. The system's performance was evaluated through a simulated search-and-rescue scenario, where the MorphoGear robot successfully located a robotic dog while an operator monitored the process. This work contributes to the development of intelligent, multimodal robotic systems capable of operating in unstructured environments.
