How to costruct the Fig 15 of the paper using a different image

[prashkmr]

Dear authors,

This paper is spectacular and I am so thankful to you for having written the code so well and opensource it.

Could you let me know how could I create the diagram for Fig1 in the paper. I am extending your work for Autonomous navigation and landed on a problem that requires me to visualize as in Fig.15 . Eagerly awaiting your reply.