MorphoNavi: Aerial-Ground Robot Navigation with Object Oriented Mapping in Digital Twin

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.

@article{karaf2025_2504.16914,
  title={ MorphoNavi: Aerial-Ground Robot Navigation with Object Oriented Mapping in Digital Twin },
  author={ Sausar Karaf and Mikhail Martynov and Oleg Sautenkov and Zhanibek Darush and Dzmitry Tsetserukou },
  journal={arXiv preprint arXiv:2504.16914},
  year={ 2025 }
}