Summary: The purpose of this thesis is to develop a robotic system that is fully capable of autonomous survey tasks with little to no human interaction. The system uses a Veloydne VLP-32 LIDAR sensor and an Intel RealSense D435 camera to simultaneously map the environment and avoid all obstacles autonomously. Combination of these sensor to detect positive, negative, and overhead obstacles results in 3D object detection, which is then used to create a 2D map using SLAM mapping algorithms.
