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3D Mapping, Localisation and Object Retrieval using Low Cost Robotic Platforms: A Robotic Search Engine for the Real-World

In this paper we present work in progress on 
the development of a low-cost autonomous robotic platform 
that integrates multiple state-of-the-art techniques in RGB-D 
perception to form a system capable of completing a real-world 
task in an entirely autonomous fashion. The task we set out to 
complete is determining the location of a preselected object within 
the physical world. This experiment requires a robotic framework 
with a number of capabilities including autonomous exploration, 
dense real-time localisation and mapping, object detection, path 
planning and motion control.