Subgraph matching route navigation by UAV and ground robot cooperation

Abstract

In this paper, we propose a novel and robust cognitive sharing method based on edge-label subgraph matching for ROI sharing and object recognition. This method enhances a vision based cooperation for UAV and ground robot system under an unknown environment where GPS is not available. The proposed subgraph matching method is an extension of Nema in that only edge-label graph is assumed and hence it can be applied to the situation where the node-labels are hard to distinguish. This method is applied to the navigation system where a UAV navigates a ground robot to the target position via ROI sharing. We test the method through a series of simulations and confirm a stable and good performance in different situations.