This paper describes the preliminary results of developing an autonomous ground robot that can navigate dynamic indoor/outdoor and GPS-restricted environments. This study outlines the demerit of applying conventional LIDAR sensors alone for mapping, as they cannot detect obstacles beyond their range and compromise reliability in real-time applications. This paper showcases the application of a Real-Time Appearance Based (RTAB) algorithm by combining LIDAR sensors with 3D cameras for three-dimensional mapping. This algorithm generates a realistic view of the spatial environment enabling superior clarity of the robot's surroundings. The simulations have been conducted on the open-source Robotic Operating System (ROS) NOETIC platform. Additionally, the real-time mapping of outdoor environments using an in-house miniature-sized prototype designed for proof of concept is also described in this paper. The developed robot can find suitable applications as delivery bots, surveillance robots, rescue operations and teleoperation. © 2023 ACM.