3D modeling of indoor environments with mobile robot

U ovom radu zadatak je bio izraditi 3D mapu jednog kata prostora fakulteta korištenjem ROS paketa octomap_server i rtabmap_ros. Prvi dio sadrži opis robotskog sustava, njegove hardverske i softverske komponente. U drugom dijelu slijedi detaljan opis paketa za 3D mapiranje u ROS-u: octomap_server i rtabmap_ros njihova usporedba i opis metode ponovnog posjećivanja. Opisan je način rada pojedinog paketa te funkcionalnosti koje pruža korisniku. Zatim slijede upute za pokretanje mapiranja sa pravim robotom ili u 3D simulatoru te u sljedećem poglavlju detaljni opis parametara, stavki i argumenata prvi pokretanju mapiranja. Izvan glavnog sadržaja dokumenta nalazi se prilog sa uputama za instalaciju ROS-a.In this paper task was to make 3D map of three rooms of faculty building using ROS packages octomap_server and rtabmap_ros. At the beginning of the document is description of robotic system, its hardware and software components. Second part contains detailed descriptions of ROS packages for 3D mapping: octomap_server and rtabmap_ros, their comparison and description of RTAB-Map loop closure method. For each package it is defined how it works and its features. Then there are steps I have done while mapping, pictures of rooms that are mapped and guidline how to start each mapping procces on simulator or with real robot and parametars that are changed. At the end are results of each 3D mapping package and problems that are faced during it. Outside of main content of the document there are instructions for installing ROS