单目相机实现空地机器人通用环境建图，无需调参
MorphoNavi: Aerial-Ground Robot Navigation with Object Oriented Mapping in Digital Twin
- 用单目相机构建面向物体的动态地图，支持空地协同
- 在模拟搜救中成功定位机械狗，人机协同监控有效
- 适合复杂非结构化环境下的智能机器人系统研究
本文提出一种新型映射方法，适用于基于单目相机的通用空地机器人系统。该系统能够在不针对特定环境进行微调的情况下，检测多种物体并估计其位置。通过模拟搜救场景评估系统性能，MorphoGear机器人成功定位到一只机械狗，同时操作员可实时监控过程。本工作推动了能在非结构化环境中运行的智能化、多模态机器人的发展。
原文摘要 · Abstract (English)
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.
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