  We propose an end-to-end real time framework to generate high resolution
graphics grade textured 3D map of urban environment. The generated detailed map
finds its application in the precise localization and navigation of autonomous
vehicles. It can also serve as a virtual test bed for various vision and
planning algorithms as well as a background map in the computer games. In this
paper, we focus on two important issues: (i) incrementally generating a map
with coherent 3D surface, in real time and (ii) preserving the quality of color
texture. To handle the above issues, firstly, we perform a pose-refinement
procedure which leverages camera image information, Delaunay triangulation and
existing scan matching techniques to produce high resolution 3D map from the
sparse input LIDAR scan. This 3D map is then texturized and accumulated by
using a novel technique of ray-filtering which handles occlusion and
inconsistencies in pose-refinement. Further, inspired by human fovea, we
introduce foveal-processing which significantly reduces the computation time
and also assists ray-filtering to maintain consistency in color texture and
coherency in 3D surface of the output map. Moreover, we also introduce texture
error (TE) and mean texture mapping error (MTME), which provides quantitative
measure of texturing and overall quality of the textured maps.
