Online Localisation and Colored Mesh Reconstruction Architecture for 3D Visual Feedback in Robotic Exploration Missions
Quentin Serdel,Christophe Grand,Julien Marzat,Julien Moras,Quentin Serdel,Christophe Grand,Julien Marzat,Julien Moras
This paper introduces an Online Localisation and Colored Mesh Reconstruction (OLCMR) ROS perception architecture for ground exploration robots aiming to perform robust Simultaneous Localisation And Mapping (SLAM) in challenging unknown environments and provide an associated colored 3D mesh representation in real time. It is intended to be used by a remote human operator to easily visualise the map...
