This repo contains c++ codes for pointcloud-base frontier generation.
This code was meant for frontier based exploration using LIDAR sensor.
The purple points represent the acculumated points over time i.e. the
world model. The rainbow points represents clustered center of frontier
points; the more violet a point is, the more information that cluster
represents. In addition, a naive sensor model has been applied such that
frontier points within raidus R of the robot would be suppressed. (This
work was meant for visual inspection using camera, so only near field
points should be suppressed)

Topics subsribed to: velodyne_cloud_registered, aft_mapped_to_init(robot position).
Topics published to: frontier, world_model

catkin_make
rosbag play <bagfile>
rosrun exploration exploration_node

Frontier points could appear in previously visited area due to geometry
of the environment e.g. part of the wall is not visible from one side of
the corridor, and only get observed once the robot is half way through.