This project investigates using an aerial image of an environment to create a bidirectional weighted graph that can be used to navigate that environment. Originally, I only started this project only because really wanted to learn about computer vision. Then, inspired by the use of navigation graphs in games and robot pathfinding, I developed an algorithm that is meant to take an aerial image of some environment and convert it into a weighted graph. Ideally, this weighted graph could be used to efficiently create paths that could be transformed into robot machine code. This project was accepted to the Computer Vision Conference 2019. The full paper is available in the proceedings.